JP2014503440A - Bot position detection - Google Patents

Abstract

  A storage structure (130) having storage shelves (600), each storage shelf (600) having a slat for supporting an item being stored, the slats being at a predetermined distance from each other. Autonomous carrier vehicle (110) including spaced storage structures and at least one sensor configured to sense each slat and to output a signal when the slat is sensed And a controller for verifying the position of the autonomous transport vehicle within the storage structure (130) based at least on the output signal.

Description

[Cross-reference of related applications]
This application further claims priority from US Provisional Patent Application No. 61 / 423,206, filed December 15, 2010, US Patent Application No. 13/327, filed December 15, 2011, No. 035, U.S. Provisional Patent Application No. 61 / 423,308, filed Dec. 15, 2010, further claiming priority, U.S. Patent Application No. 13/326, filed Dec. 15, 2011. No. 565, and US Provisional Patent Application No. 61 / 423,340, filed Dec. 15, 2010, further claiming priority, U.S. Patent Application No. 13/326, filed Dec. 15, 2011. Non-provisional patent applications claiming the benefit of No. 674, the disclosures of which are hereby incorporated by reference in their entirety.

[Technical field]
The present embodiment relates to a storage and retrieval system as a whole, and more particularly, to autonomous transportation of the storage and retrieval system.

  Storage case unit warehouses are usually accessible by transport devices such as forklifts, carts and elevators, or other lifts and transport devices, which can move in or along the path between storage racks. Includes storage racks. These transport devices are driven automatically or manually. Usually, the items that are transported to / from the storage rack and stored in the storage rack are contained in a storage container such as a carrier, for example a tray, tote or a delivery case, or on a pallet. Yes. Also, typically, when an area of the storage and retrieval system requires maintenance, there is an opportunity for a human and, for example, the transport device and other movement mechanisms of the storage and retrieval system to occupy approximately the same space within the storage and retrieval system at approximately the same time. is there.

  When transporting cases to and from the storage rack by automated transport, it is advantageous to place the automated transport to the case holding area and to the case holding area to accurately pick up and place the case from the case holding area. It is.

  It is advantageous to provide a maintenance access zone so that the area of the storage and retrieval system can be isolated during maintenance.

  Also, for example, storage of goods in a warehouse usually requires a large building or storage structure space along with the accompanying estate. As will be appreciated, the length of the storage passages in the warehouse structure and the transport path for accessing each of these storage passages depends on the amount of goods (eg, goods) stored in the warehouse. Also, as will be appreciated, items stored in a storage space are required to have a desired output (eg, processing capacity) possible with a storage and retrieval system at a given output (such as for subsequent shipping). . In an example of a typical warehouse, the storage path must be long enough to store all desired goods in order to keep the transport path for access to each of the storage / removal paths to a minimum. I must. However, the length of each of the storage passages may be substantially prohibitive, for example, depending on the building in which the storage structure is located, and / or moved to access the item within the storage passage. The distance will be too long and the movement or transport time will be excessive, and the processing capacity will be adversely affected accordingly. In order to avoid an excessively long storage passage, the width of the storage structure may be adjusted so as to reduce the length of each storage passage or increase the number of storage passages. However, if the number of storage passages is increased, the movement distance along the movement path increases in order to access each of the storage passages. As in the long storage path, the length of the travel path will be substantially more expensive for the same reasons as described above for the length of the storage path.

  It would be advantageous to have a warehouse storage structure that would substantially reduce the travel distance and time in the storage path and along the travel path.

  The above aspects and other features of the disclosed embodiments will be described in the following description, in conjunction with the accompanying drawings.

1 is a schematic diagram of an exemplary storage and retrieval system according to an embodiment. FIG. 1B is a schematic diagram of a portion of the storage and retrieval system of FIG. 1A. FIG. 1 is a schematic plan view of an exemplary storage and retrieval system according to an embodiment. FIG. 1 is a schematic plan view of an exemplary storage and retrieval system according to an embodiment. FIG. FIG. 6 is a schematic plan view of another exemplary storage and retrieval system according to an embodiment. FIG. 2 illustrates a partial structure of an exemplary storage and retrieval system according to an embodiment. It is the schematic of a part of autonomous conveyance vehicle and storage shelf by embodiment. It is a figure which shows the storage shelf and exemplary autonomous conveyance vehicle by embodiment. It is a figure which shows the storage shelf and exemplary autonomous conveyance vehicle by embodiment. It is the schematic of the assembly jig by embodiment. It is the schematic of a part of autonomous conveyance vehicle and storage shelf by embodiment. It is the schematic of the sensor output signal by embodiment. It is the schematic of a part of storage shelf and sensor beam by embodiment. It is a flowchart by an embodiment. It is the schematic of the autonomous conveyance vehicle and conveyor shelf by embodiment. It is a flowchart by an embodiment. 1 is a schematic view of a portion of a storage and retrieval system according to an embodiment. 1 is a schematic view of a portion of a storage and retrieval system according to an embodiment. 1 is a schematic view of a portion of a storage and retrieval system according to an embodiment. 1 is a schematic view of a portion of a storage and retrieval system according to an embodiment. 1 is a schematic view of a portion of a storage and retrieval system according to an embodiment. 1 is a schematic view of a portion of a storage and retrieval system according to an embodiment. 5 is an exemplary flowchart according to an embodiment. FIG. 3 is a schematic diagram of an exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of another exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of another exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of another exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of another exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of another exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of another exemplary storage structure according to an embodiment. It is the schematic of the autonomous conveyance by embodiment. It is the schematic of the autonomous conveyance by embodiment. FIG. 6 is a schematic diagram of yet another exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of yet another exemplary storage structure according to an embodiment. FIG. 3 is a schematic diagram of an exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of another exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of yet another exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of yet another exemplary storage structure according to an embodiment. FIG. 6 is a schematic diagram of another exemplary storage structure according to an embodiment. It is a schematic diagram of an autonomous conveyance vehicle by an embodiment. It is a schematic diagram of a part of a storage shelf according to an embodiment. FIG. 12 is a schematic view of a portion of the transport vehicle of FIG. 11 according to an embodiment. FIG. 12 is a schematic view of a portion of the transport vehicle of FIG. 11 according to an embodiment. 1 is a schematic view of a portion of a positioning system according to an embodiment. It is a flowchart by an embodiment. It is the schematic of a part of taking-out channel | path and conveyance vehicle by embodiment. 1 is a schematic view of a portion of a storage and retrieval system according to an embodiment.

  FIG. 1A schematically illustrates an exemplary storage and retrieval system according to an embodiment. Although the disclosed embodiments are described with reference to the embodiments shown in the drawings, the disclosed embodiments can be implemented in many alternative forms. In addition, any suitable size, shape or type of elements and materials may be used.

  According to embodiments, the storage and retrieval system 100 can be used in a retail distribution center or warehouse, for example, to fulfill orders for case units received from retail stores (the case units used herein are in trays, Means an item not stored on the tote or pallet, for example, uncontained, or an item stored in the tray, on the tote or pallet). The case unit may include a case of items (soup can case, cereal box, etc.) or individual items suitable to be removed from or placed on the pallet. pay attention to. According to embodiments, the delivery case or case unit (eg, carton, barrel, box, crate, jug, tote, pallet or any other device suitable to hold the case unit) is sized. May be changeable, may be used to hold items in delivery, and may be mountable on a pallet for delivery. For example, when a batch of case units or a pallet arrives at the storage and retrieval system, the contents of each of the pallets may be the same (eg, each of the pallets holds a predetermined number of identical items 1 One pallet holds the soup and the other pallet holds the cereal), when the pallet leaves the storage and retrieval system, the pallet may contain the right number and different items combined Good (eg, each of the pallets may hold various types of items, and one pallet may hold a combination of soup and cereal). It should be understood that the embodiments of the storage and retrieval system described herein may be applied to any environment in which the case unit is stored and removed.

  The storage and retrieval system 100 may be configured to be introduced into an existing warehouse structure, for example, or adapted to a new warehouse structure. In an embodiment, the storage and retrieval system includes in-feed and out-feed transport stations 170, 160, multi-level vertical conveyors (MVCs) 150A, 150B, storage structures 130, and a plurality of autonomous transport vehicles or robots 110 (hereinafter “ Bot)). The storage and retrieval system also provides for an indirect interface between the bot 110 and the multi-level vertical conveyors 150A, 150B (eg, “STORAGE AND RETRIVAL SYSTEM” filed April 9, 2010, Such as those described in the entitled US patent application Ser. No. 12 / 757,220, the disclosure of which is hereby incorporated by reference in its entirety. it can. The infeed transfer station 170 and the outfeed transfer station 160 are connected to the case unit from one or more levels to and from one or more levels of the storage structure 130. May be operated in conjunction with their respective multi-level vertical conveyors 150A, 150B. Although multi-level vertical conveyors are described herein as dedicated inbound or infeed conveyors 150A and outbound or outfeed conveyors 150B, each of conveyors 150A and 150B is stored and stored. It may be used for both loading and shipping transport of a case unit / item of a pick-up system. The multi-level vertical conveyor may be any suitable lift device that transports the case unit between levels of the storage and retrieval system. Although a multi-level vertical conveyor is described in other aspects herein, the conveyor may be any suitable conveyor or transport / pickup device having any suitable transport path direction. Keep in mind. Some non-limiting suitable examples of multi-level vertical conveyors are, for example, an agent reference number 1127P014525-US filed on December 15, 2010 and entitled “LIFT INTERFACE FOR STORAGE AND RETRIEVAL SYSTEMS”. (-# 1) US provisional patent application (currently US Patent Application No. 13 / 327,088 filed on December 15, 2011 with agent serial number 1127P014525-US (PAR)), And US patent application Ser. No. 12 / 757,354 filed Apr. 9, 2010 and entitled “LIFT INTERFACE FOR STORAGE AND RETRIEVAL SYSTEMS” (see the entire disclosure of these applications) By Honmei Included in the book), and can be found in "STORAGE the AND RETRIEVAL SYSTEM" entitled U.S. patent application Ser. No. 12 / 757,220 Pat (included herein by already referenced). For example, a multi-level vertical conveyor may have any suitable number of support shelves to transport the case unit to a predetermined level of the storage and retrieval system. The support shelves are shaped so that they can pass between the slats (slats) for transferring the finger or infeed / outfeed transfer stations 170, 160 of the bot 110 to the conveyor and from the conveyor to the case unit. It may have a support with attached slats. It should also be noted that in embodiments, the transport of the case unit between the bot and the multi-level vertical conveyor may occur in any suitable manner.

  Referring to FIG. 1B, a multi-level vertical conveyor is typically a continuously moving loop that moves at a substantially constant speed, ie a circulating vertical loop (the shape of the loop shown in the drawing is merely illustrative, In embodiments, the loop may have any suitable shape including a rectangle and serpentine), a load shelf attached to a chain, belt or other suitable transfer means 2720 2730, and shelves 2730 may use a principle referred to as the “paternoster” principle of continuous transport that loads and unloads at any point without slowing down or stopping. Multi-level vertical conveyors 150A, 150B may be controlled by a server, such as control server 120 or any other suitable controller, for example. One or more suitable computer workstations 2700 may be connected in any suitable manner (eg, wired or wireless connection) with multi-level vertical conveyors 150A, 150B and server 120, as an example, All product management, multi-level vertical conveyor functions and controls, and customer order procurement may be provided. As will be appreciated, the computer workstation 2700 and / or server 120 may be programmed to control the infeed and / or outfeed conveyor system. In an embodiment, computer workstation 2700 and / or server 120 may be programmed to control transfer station 140. In an embodiment, one or more of workstation 2700 and control server 120 may include a control cabinet, a programmable logic controller, and a variable frequency drive for driving multi-level vertical conveyors 150A, 150B. In an embodiment, workstation 2700 and / or control server 120 may have any suitable component and configuration. In an embodiment, the workstation 2700 may substantially correct any exception or defect in the infeed and / or outfeed conveyor system substantially without operator assistance and communicate the defect recovery scenario to the control server 120. Good or vice versa.

  As will be appreciated, the storage and retrieval system 100 may include, for example, a plurality of infeed and outfeed multi-level vertical conveyors 150A, 150B that are accessible by the bots 110 at each level of the storage and retrieval system 100; Thereby, one or more case units are transferred from the multi-level vertical conveyors 150A, 150B to each of the storage spaces at each level and from each of the storage spaces to the multi-level vertical conveyors 150A, 150B at each level. It can be transported to any one. The bot 110 is configured to transport the case unit between the storage space and the multi-level vertical conveyor in one pick (eg, substantially directly between the storage space and the multi-level vertical conveyor). Also good. According to another example, a designated bot 110 removes one or more case units from a shelf of a multi-level vertical conveyor and transports the one or more case units to a predetermined storage area of the storage structure 130. One or more case units are placed in a predetermined storage area (and vice versa).

  The bot 110 places case units, such as the above-described retail items, in one or more levels of the take-out stock of the storage structure 130 to place the ordered items in a store or other suitable location, etc. It may be configured to selectively retrieve items ordered for delivery. In an embodiment, the bot 110 may be, for example, a bot transport arm or effector 110A (FIG. 12) for a bot frame (finger 110F (FIGS. 7A and 12) for interfacing with a support shelf with a slat of a multi-level vertical conveyor). May be interfaced with the multi-level vertical conveyors 150A, 150B in any suitable manner. A suitable example of a bot is US patent application Ser. No. 12 / 757,312 filed Apr. 9, 2010 entitled “AUTONOMOUS TRANSPORTS FOR STORAGE AND RETRIEVAL SYSTEMS”, “BOT PAYLOAD ALIGNMENT AND SENSING”. US Provisional Patent Application (No. 61 / 423,220) with an Attorney Docket No. 1127P0142263-US (-# 1) filed on December 15, 2010 (currently December 2011) No. 13 / 327,040 of Attorney Reference Number 1127P0142263-US (PAR), filed on 15th, entitled “AUTOMATED BOT WITH TRANSFER ARM”, filed on 15th December 2010 In addition, the US provisional patent application (No. 61 / 423,365 specification) with the agent reference number 1127P014264-US (-# 1) (currently, the agent reference number filed on December 15, 2011) 1127P014264-US (PAR) No. 13 / 326,952), entitled “AUTOMATED BOT TRANSFER ARM DRIVE SYSTEM” and filed on December 15, 2010, the agent reference number is 1127P014265-US ( -# 1) US provisional patent application (No. 61 / 423,388) (currently filed on Dec. 15, 2011 with the agent reference number 1127P014265-US (PAR) No. 13 / No. 326,993), the disclosure content of these applications is referred to in their entirety. Are included herein.

  The storage structure 130 may include multiple levels of storage rack modules, each level being an array of storage spaces (aligned at multiple levels and aligned within multiple columns at each level. A take-out passage 130A formed between rows of storage spaces, and a transfer deck 130B. The bot 110 is configured to traverse the transport deck 130B while being mechanically constrained, and for example, to traverse the transport path 130A while being mechanically constrained by a rail or other guide mechanism disposed in the take-out path 130A. Note that it may be configured. Any bot 110 traveling on the level of the storage structure is removed on a level that can afford the difference between the frame of the bot 110 and the target or existing positioning mechanism 1201-1203 (FIG. 29). It may enter any one of the passages 130A. Note that each level may include a corresponding bot transfer station that provides an indirect interface between the bot and the multi-level vertical conveyor. In an embodiment, the takeout path 130A and the transfer deck 130B allow the bot 110 to traverse each level of the storage structure 130 and remove the ordered case unit to remove the case unit and place it in the stock. It may be arranged to do. As will be appreciated, the storage and retrieval system may be configured to allow random access to the storage space. For example, all storage spaces of the storage structure 130 may be removed from the storage structure 130 / placed on the storage structure 130 so that any storage space of sufficient size can be used to store the item. May be treated substantially equally when determining which storage space should be used. The storage structure 130 of the embodiment may be configured without a vertical or horizontal array partition of storage structures. For example, each multi-level vertical conveyor 150A, 150B is common to all storage spaces (eg, an array of storage spaces) within the storage structure 130 so that any bot 110 can access each of the storage spaces. And any multi-level vertical conveyor 150A, 150B can receive case units from any storage space at any level, with multiple levels in the array of storage spaces being substantially a single level. (Eg, no vertical partition). Multi-level vertical conveyors 150A, 150B may be capable of receiving case units from any storage space at any level of storage structure 130 (eg, no horizontal partition). The storage and retrieval system may be configured such that each multi-level vertical conveyor serves a predetermined area of the storage space row.

  Storage structure 130 may also include a charging station 130C for recharging the charging pack of bot 110, for example. In an embodiment, the charging station 130C is disposed, for example, in the delivery areas 295, 895 (FIGS. 2, 3, 4, and 16) of the delivery deck 130B, and the bot 110 is multi-charged while being charged, for example. Articles may be conveyed substantially simultaneously to and from the level vertical conveyors 150A, 150B and from the multi-level vertical conveyors 150A, 150B. The bot 110 and other suitable features of the storage and retrieval system 100 are controlled by one or more central system control computers (eg, control servers) 120, such as via any suitable network 180, for example. May be. Network 180 may be a wired network, a wireless network, or a combination of wireless and wired networks using any suitable type and / or number of communication protocols. In the embodiment, the system control server 120 may manage and coordinate all operations of the storage and retrieval system 100, and may manage the warehouse equipment as a whole in conjunction with the warehouse management system 125. The control server 120 is substantially similar to that described in, for example, US patent application Ser. No. 12 / 757,337, filed Apr. 9, 2010, entitled “CONTROL SYSTEM FOR STORE AND AND RETRIVAL SYSTEMS”. The disclosure may be similar (the disclosure of this application is hereby incorporated by reference in its entirety).

  With reference to FIG. 2, an exemplary configuration of storage and retrieval system 100 is shown. Other suitable exemplary configurations of storage and retrieval systems include, for example, US patent application Ser. No. 12 / 757,381, filed Apr. 9, 2010, entitled “STORAGE AND RETRIVAL SYSTEM”, and “ US Provisional Patent Application (No. 61 / 423,340) with agent reference number 1127P014455-US (-# 1) filed on December 15, 2010 entitled "WAREHOUSING SCALABLE STORAGE STRUCTURE" (currently 61 / 423,340) Can be found in US Patent Application No. 13 / 326,674, filed December 15, 2011, with an Attorney Docket No. 1127P014455-US (PAR), the disclosure of these applications is: Included herein by reference in its entiretyIt should be understood that the storage and retrieval system may have any suitable configuration. As can be seen from FIG. 2, the storage and retrieval system 200 is configured as a single-ended retrieval structure, for illustrative purposes only, with one end of the system 200 having a transport section or deck 130B. The single-ended pick-up structure may be used, for example, in a building or other building having a loading dock that is only placed on one side of the building. In this embodiment, the storage and retrieval system 200 allows the bot 110 to traverse an entire level of the storage structure 130 in which the bot 110 is disposed, and any suitable storage location / removal path. It includes a transport deck 130B and a take-out passage 130A that allow goods to be transported between 130A and any suitable multi-level vertical conveyor 150A, 150B. Multi-level vertical conveyors 150A, 150B provide for transport of case units through the ingress workstation 210 and into the storage and retrieval system 200, and through the unload workstation 220 for transport of case units from the storage and retrieval system 200. . In an embodiment, the storage and retrieval system 200 includes first and second storage sections 230A, 230B arranged side by side, with the retrieval passages of each section being substantially parallel to each other and in the same direction. (For example, facing the transport deck 130B). However, it should be understood that in embodiments, the storage and retrieval system may have any number of storage sections disposed relative to each other in any suitable configuration.

  Referring also to FIG. 3, an exemplary configuration of the storage and retrieval system 100 is shown. Another suitable exemplary configuration of the storage and retrieval system is, for example, an agent reference number 1127P014455-US (-# 1) filed December 15, 2010 and entitled “Warehoused Scalable Storage Structure”. US provisional patent application (Application No. 61 / 423,340) (currently US Patent Application No. 13/326 filed on December 15, 2011 with agent serial number 1127P014455-US (PAR)). , 674), and US patent application Ser. No. 12 / 757,381, filed Apr. 9, 2010 and entitled “STORAGE AND RETRIEVAL SYSTEM”, the disclosures of these applications. Is hereby incorporated by reference in its entirety To have. It should be understood that in alternative embodiments, the storage and retrieval system may take any suitable configuration. As can be seen from FIG. 3, the storage and retrieval system 200 is configured as a single-ended retrieval structure, for illustrative purposes only, with one end of the system 200 having a transport section or deck 130B. The single-ended pick-up structure may be used, for example, in a building or other building having a loading dock that is only placed on one side of the building. In this example, the storage and retrieval system 200 includes one or more transport decks 130B and a retrieval passage 130A, where the bot 110 traverses an entire level of the storage structure 130 in which the bot 110 is disposed. Allowing the case unit to be transported between any suitable storage / removal passage 130A and any suitable multi-level vertical conveyor 150A, 150B (FIG. 1).

  The storage and retrieval system 200 includes, for example, maintenance personnel (eg, human access) into the storage and retrieval system 200 to access any suitable structure or one or more components of the storage and retrieval system. Maintenance access gateways 210A and 210B may be included. In this example, the maintenance access gateway 210A is provided at one end of the transport deck. Another maintenance access gateway may be provided at the end of the take-out passage 130A opposite to the transfer deck 130B. In this embodiment, a maintenance access gateway may be provided for each level of the storage and retrieval system and / or a single maintenance access gateway corresponds to multiple levels of the storage and retrieval system. Also good. Also, although only maintenance access gateways 210A and 210B are shown, the storage and retrieval system may have any suitable number of maintenance access gateways located at any suitable location in the storage and retrieval system. It should be understood. A maintenance access gateway may have access to one or more maintenance access zones that are “locked out” (as described in more detail below, eg, when a maintenance person is in the maintenance access zone, , The movement of the storage and retrieval element within that zone and / or disengagement from that zone). In this example, each of the ejection passages can be defined as an individual maintenance access zone, and the transport deck can be defined as a separate maintenance access zone. Each “passage maintenance access zone” may in this example be accessible through one of the gateways 210B arranged to traverse the passage after the storage and retrieval system. The “transport deck maintenance access zone” may be accessible through a gateway 210A disposed at any appropriate position of the transport deck 130B, for example. As will be appreciated, in another embodiment, each aisle and transfer deck may be divided into one or more maintenance access zones, while the maintenance access zone is locked out. The transport deck and / or at least a portion of the removal passage can be individually locked out so that they can be manipulated (eg, for storing and removing the case).

  Referring to FIG. 4, another exemplary storage and retrieval system 300 is shown. Storage and retrieval system 300 may be substantially similar to storage and retrieval system 100 unless otherwise noted. In this example, the storage and retrieval system is shown as having a double-ended retrieval structure with transport sections or decks 130B1, 130B2 on either side of the system 300. A double-ended take-off structure may be used, for example, in a building or other structure having a load dock disposed substantially opposite the building. In this example, the storage and removal system 300 includes transfer decks 130B1 and 130B2 and a removal passage 130A. Maintenance access gateway 310A is arranged to provide access to transport deck 130B1. Maintenance access gateway 310B is merely exemplary, and is located substantially in the middle of the transport deck to provide access to the retrieval path. In this example, maintenance access gateway 310B may be common to all removal paths 130A, but in another embodiment, one or more removal paths may service one or more other removal paths. In addition to the access gateway, it may have its own maintenance access gateway. In this example, each retrieval passage 130A is divided into two maintenance access zones (eg, one zone is on side A of the storage structure and another zone is on side B of the storage structure). Each is accessible via the maintenance access gateway 310B. Note that in this embodiment, the maintenance access gateway is along the length of the extraction path between the transport decks 130B1, 130B2 to provide any suitable number of access zones within the extraction path (eg, the path access zone). It should be understood that any suitable number of arrangements may be provided. In the embodiment, two maintenance access gateways 310C and 310D may be provided at both ends of the transport deck 130B2. The transport deck may include a shunt 350 that can be traversed between the traveling lanes 351 and 352 of the transport deck 130B2 without moving the entire length of the transport deck 130B2. The transport deck 1130B2 may be divided into two maintenance access zones 360, 361, and one part of the transport deck 130B2 may (eg, store and store the case) while the other part of the transport deck 130B2 is locked out. It may be maintained operable (for removal). As will be appreciated, the boundaries of the maintenance access zones 360, 361 may be substantially located on the shunt 350, and the bot 110 moving on the transport deck 130B2 is locked out of the rest of the transport deck. While moving, it is possible to move while drawing a loop around the operation section of the transport deck 130B2. In an embodiment, the transfer deck 130B2 may have any suitable number of shunts to form any suitable number of maintenance access zones, each of which is a respective maintenance access gateway or common. Accessible through the maintenance access gateway.

  Referring to FIGS. 1A, 5, 6, 7A and 7B, each of the storage bays 510, 511 of the storage structure 130 holds a take-out stock on a storage shelf 600 separated by a passage space 130A. May be. In embodiments, storage bays 510, 511 and storage shelves 600 are, for example, entitled US Patent Application No. 12 / 757,220 entitled “STORAGE AND RETRIEVAL SYSTEM” and “STORAGE AND RETRIVAL SYSTEM”. US patent application Ser. No. 12 / 757,381, previously incorporated herein by reference, may be substantially similar. For example, one or more support legs 620L1, 620L2 may be provided on the storage shelf 600, and the support legs are, for example, indicated by horizontal supports 610, 611, 613 (vertical support 612). (FIG. 11, block 900). Support legs 620L1, 620L2 may be integrally formed with the storage rack structure in any suitable manner. For example, the support legs 620L1, 620L2 can have any suitable configuration, for example, the substantially U-shaped channel 620 such that the support legs 620L1, 620L2 are connected to each other via the channel portion 620B. It may be a part. The channel portion 620B may provide a connection point between the channel 620 and one or more horizontal supports 610, 611, 613. It should be understood that each support leg 620L1, 620L2 can also be configured to be individually attached to horizontal supports 610, 611, 613.

  As can be seen and with reference to FIG. 7C, the support legs 620L1, 620L2 can be attached to the horizontal supports 610, 611, 613 by the attachment jig 802. The mounting jig 802 includes a body 800 having a first set of grooves 801. The grooves are generally referred to as slats 620L for the support legs 620L1, 620L2, but the slats 620L are supported horizontally with a predetermined tolerance. 610, 611, 613 is configured to fit into the groove for accurate placement. The mounting jig 802 may include a second groove 803 that is substantially orthogonal to the first set of grooves 801. The second groove may be configured to receive a vertical support 612 for positioning the mounting jig 802 relative to the storage rack structure. It should be understood that the attachment jig 802 can be positioned relative to the storage rack structure in any suitable manner for attaching the slats 620L. The slats 620L may be secured to the storage structure by any suitable method such as snaps, fasteners, welds, chemical binders, and the like. It should be understood that the slats 620L can be attached to the storage rack structure in any suitable manner using any suitable alignment tool.

  In an embodiment, each support leg 620L1, 620L2 includes a bent portion 620H1, 620H2 having an appropriate surface area configured to support a case unit stored on the shelf 600. The bent portions 620H1 and 620H2 can be configured to prevent deformation of the case unit stored on the shelf. It will be appreciated that the legs 620H1, 620H2 may have any suitable thickness or have any other suitable shape and / or configuration for supporting the case unit stored on the shelf. Should. As seen in FIGS. 7A and 7B, the slat 620L or channel 620 may form a slat or corrugated shelf structure that allows the bot 110 to track its position within the storage rack structure and, for example, support A space 620S between the legs 620L1, 620L2 may allow the arms or fingers 110F of the bot 110 to reach the shelf or into the shelf for transporting the case unit from the shelf. The slat 620L removes the case unit from the storage shelf 600 and places the slat 620L at a distance 620S (eg, the space between the slats) at a known increment 130A for placement of the bot position during placement. 600 may be mounted. In one example, the spacing 620S between the slats 620L can be arranged to provide an incremental bot positioning system (eg, spacing 620S is substantially the same between all of the slats 620L, where The bot position is tracked from a reference point or reference point, such as one end of the extraction path 130A). In another embodiment, the spacing 620S between the support legs 620L1, 620L2 allows the finger 110F of the bot 110 to be inserted between the slats 620L to take and place the absolute bot positioning system on the storage shelf 600. In the meantime, it can be arranged to provide (eg, each space detected by the bot follows a predetermined pattern to give the position of the bot within a uniquely identifiable take-out path). In an embodiment, substantially the same absolute encoder slat pattern may be used for each extraction passage, while in other alternative embodiments, each extraction passage identifies a passage at the same time as the bot position in the extraction passage. May have only one absolute encoder slat pattern. In an embodiment, the spacing between the slats 620L of the shelf 600 may be any suitable spacing that provides any suitable measurement scale for determining the position of the bot, such as, for example, a combination of incremental and absolute positioning scales. It should be understood that it may be. As described in more detail below, the location of the bot may also be determined using a “map” or “fingerprint” of the case on the storage shelf. Also, transfer of case units to and from the multilevel vertical conveyors 150A, 150B (even if the transfer is made directly or indirectly by the bot 110) is described for the storage shelf 600. Note that it can occur in a manner substantially similar to the embodiment described.

  In an embodiment, for example, as also seen in FIGS. 6 and 14, the truck or rail 1300 is a storage structure in any suitable form such that the bot straddles the adjacent truck 1300 to traverse the take-out passage 130A. May be attached to one or more of the vertical and horizontal supports 612, 610, 611, 613. As seen in FIGS. 6 and 14, one or more levels 670-675 of the extraction passageway 130A are not substantially vertically obstructed by the floor 130F, as will be described in more detail below. (E.g., one or more extraction passages do not have a floor). The absence of floor 130F at each removal level 670-675 indicates that security personnel are in the removal passage, where the height between each storage level substantially prevents the security personnel from moving through the removal passage 130A. Be able to walk or move. In an embodiment, any suitable cart or trolley may be provided (instead of or in addition to the floor), where the cart or trolley can place the next truck in substantially the same manner as described above for bot 110. In order to straddle or move through the take-out passage, security personnel are riding along the floor 130F so that they can ride on carts or carts.

  Referring now to FIGS. 7A and 8, any suitable number of sensors for detecting or sensing slats 620L may be provided on bot 110 (FIG. 11, block 910). In an embodiment, the bot 110 includes two sensors 700, 701 for illustrative purposes only. In the embodiment, the sensors 700 and 701 are described as beam sensors including a projector and a light receiver. The projector and the light receiver of each sensor 700 and 701 may be housed in a single sensor casing or in a sensor casing separated for each sensor 700 and 701. It should be understood that the sensors 700, 701 may be any suitable sensor including, but not limited to, proximity sensors such as beam sensors, magnetic sensors, capacitance sensors, inductance sensors, and the like. is there. The sensor 700 can be disposed toward the front of the bot 110, and the sensor 701 can be disposed behind the bot 110. The terms “front” and “rear” are relative terms, and for purposes of illustration only, the bot 110 is configured to move in the removal path 130A in any direction, which direction is the bot's direction. It should be noted that the direction in which the front and rear of the bot can be reversed relative to the direction of travel. It should also be understood that one or more sensors can be placed at any suitable location of the bot, eg, along any suitable length on any suitable side of the bot 110. . Sensors 700, 701 can be attached to bot 110 in any suitable manner, such as in the chassis of bot 110 or any other location.

  Sensors 700, 701 are attached to the bot 110 to detect or sense the slats 620L, for example, to determine the bot position in the retrieval passage 130A or any other suitable location in the storage and retrieval system 100. For example, incremental (or absolute) and discrete position encoders (FIG. 11, block 920) may be provided. The sensors 700, 701 may be at any suitable angle (θ) (exaggerated in FIGS. 8, 10), for example, to the bot chassis and / or the surface 620F of the slat 620L to emit a signal when each slat 620L is sensed. And shown in FIG. It should be noted that by providing the angle θ, for example, as shown below, for example, a beam emitted from the sensor can be reflected by the slat 620L and received by the sensor receiver. As will be appreciated, the beam sensor projector is configured to be angled relative to the sensor box, thereby substantially parallel to one or more structural features of the bot. And / or at right angles. As will be appreciated, when the sensor used is a proximity sensor, for example for purposes of illustration only, as will be described in more detail below, to detect changes in capacitance, dielectric constant, and magnetic field It is not necessary to have an angle. Note that the sensors may have any suitable arrangement / configuration relative to the slats to detect the slats and locate the bot. As a non-limiting example only, the back of the shelf is anti-reflective and the placed sensor is such that the sensor beam of the reflective sensor is substantially parallel to the longitudinal axis of the slat (eg, slat Have no angle).

  Referring also to FIG. 10, when the bot moves through the extraction path 130A, for example in the direction of arrow 799, the beam 700B projected from the projector of the sensor 700 hits the side 620LS of the slat 620 and reflects away from the sensor (eg, , The beam does not return to the receiver of sensor 700). As the bot continues to move in the direction of arrow 799, beam 700B strikes surface 620LF of slat 620L, beam 700B reflects back to the receiver of sensor 700, and the sensor generates an output signal indicating the presence of slat 620L. During continued movement of bot 110, for example in the direction of arrow 799, beam 700B scans surface 620LF of slat 620L such that beam 700B reflects back to the receiver of sensor 700. When the receiver of sensor 700 receives beam 700B, sensor 700 provides a substantially constant output signal to any suitable controller 1220 (or storage and retrieval system 100 such as a control server) of bot 110, for example. If the bot continues to move, for example in the direction of arrow 799, the beam 700B will leave the slat face 620LF and will no longer reflect back to the receiver of the sensor 700, the sensor will stop outputting a substantially constant output signal, Indicates that there is no slat. As will be appreciated, when moving past the side of successive slats 620L, the output signal generated by sensor 700 (eg, slats present, slats absent, slats present, etc.) may be “on / 9 is formed in the form of an “off” signal S700, where the on / off output signal corresponds to the pitch P (or spacing) of the slats (FIG. 11, block 930). In this example, the signal S700 is shown as a square wave, but can have any suitable waveform / shape. Sensor 701 can be operated in the same manner as described above with respect to sensor 700, and beam 701B from sensor 701 is reflected off slat surface 620LF to produce another “on / off” signal S701. As will be appreciated, an “on / off” signal can be generated in a similar manner using a proximity sensor, where the signal is “on” when the slat approaches the sensor (eg, the slat's It is “off” when slats are not detected.

  The two signals S700, S701 generated by each sensor 700, 701, for example, form an incremental encoder pattern (eg, approximately the same pitch between slats), which determines the position of the bot, eg, in the extraction path 130A. Can be interpreted by the controller 1220. The pitch between the slats varies in only one way (although the fingers 110F of the bot 110 still allow enough room to be inserted between the slats to remove and place the case unit from the storage shelf 600). Provide an absolute encoder pattern that can be interpreted by the controller 1220 to position the bot independently of the pre-detected slats of the extraction path 130A.

The accuracy and resolution of the sensors 700, 701 can be determined by the bot to produce a fine resolution, for example, the distance between sensors or the angle of different sensors results in at least one of the sensors deviating from the slat pitch P by a predetermined amount. The sensors 700, 701 can be increased by placing them on the bot 110 so that the number of detected slats can be effectively increased. For example, the distance L between the sensors can be as follows:
L = mP + W
m is an integer, and W is a predetermined fraction of the pitch P (for example, P / 2, P / 4,... P / x). The arrangement of the slats 620L in the storage shelf 600 is, for example, arranged in a predetermined configuration with respect to the vertical support 612 of the storage structure. In one example, the vertical support 612 may be free of slats and the high position resolution assists in confirming the position of the bot, for example, while the case unit is being removed / placed from the storage shelf 600, Finger 110F (FIG. 7A) does not contact vertical support 612 or support slat 612L. In other examples, the vertical support 612 may have false slats thereon, substantially similar to the manner described below with respect to the transport and storage system 295 of the storage and retrieval system. In yet another example, the bot location can be determined using RFID tags or bar code labels attached throughout the storage and retrieval structure. In this example, the bot 110 can include any suitable RFID or barcode reader, and the RFID tag and / or barcode can be read as the bot 110 moves through the storage and retrieval system. In yet another example, the placement of the bot may be determined as described below based on mileage information, feedback from the bot's drive motor, and interaction with the surface on which the bot rides or faces. it can. It should be understood that any suitable combination of the above features can be used to determine bot placement.

  The controller 1220 of the bot 110 can access the storage and retrieval system structure file. The structure file may include an arrangement of structural features of the storage and retrieval system including the location of each slat 620L within the retrieval passage 130A. The structure file can be located in any suitable memory accessible by the controller 1220. In one example, the structure file may be located in the memory 1221 of the bot 110. In another example, the structure file is deployed in the memory of the control server 120, for example, accessed by the bot 110 and uploaded to the bot memory when the bot 110 is located. The slat position specified in the structure file can help identify the position of the slat, for example, to determine the position of the bot 110 within the retrieval passage 130A. For example, if the bot identifies a slat, such as slat 620L1 of storage shelf 600, with sensors 700, 701, the slat using the location of slat 620L1 as specified by information in the structure file (FIG. 11, blocks 940 and 950). The moment the 620L1 is detected, the bot controller 1220 compares the estimated position of the bot 110 using the mileage of the bot (eg, obtained from a wheel encoder 720, described below, for example, counting wheel diameter changes due to wear). . If the comparison between the estimated bot position and the position of the slat from the structure file matches within a predetermined tolerance, the position of the bot (and the sensor that senses the slat) is used to retrieve the extraction path 130A using the slat. Within which the bot 110 is modified to know its substantially accurate position. The sensors 700, 701 can be placed at a predetermined distance, for example, relative to the position of the effector or arm 110A (FIG. 12) of the bot 110, and the arm 110A is a fixed placement of the sensor relative to the storage slat 620L. Note that the finger 110F of the arm 110A can be positioned for insertion between the slats for transporting containers between the bot 110 and the storage shelf 600. The controller 1220 can also be configured to determine the status of the bot 110 (acceleration, speed, direction, etc.) when considering the slip of the wheel when determining the position of the bot within the storage and retrieval system. This is, for example, a US provisional patent application (No. 61 / 423,359) entitled “BOT HAVING HIGH SPEED STABILITY” and filed on December 15, 2010 with an agent serial number of 1127P014266-US (− # 1). (Currently filed on December 15, 2011, the agent reference number is 1127P014266-US (PAR) No. 13 / 326,447), and these applications The disclosure of which is incorporated herein by reference in its entirety.

  In the region between the slats 620L1, 620L2, the bot 110 may be configured to obtain mileage information from the wheel encoder 720 of the bot 110 to update the estimated position of the bot 110 substantially continuously (eg, the bot's 110 By adding the mileage of the bot determined from one or more rotations of the wheel to the last identified position of the bot, or to any other suitable predetermined position of the bot). The estimated position of the bot 110 can be based, for example, on the position of the last slat 620L1 detected and identified by the bot 110 (eg, the position is verified through comparison with the structure file) (FIG. 11, block 960). For example, when the bot 110 encounters a slat 620L2 that continues in the direction of movement 799 through the removal path 130A, the bot 110 uses its previously detected authenticated position of the slat 620L1 and information from the wheel encoder 720 to determine its estimated position. calculate. The bot 110 compares this estimated position against the slat position information contained in the structure file for the slat 620L2, and if the two positions are obtained (ie, the estimated position of the bot and the structure file). If the positions of the slats 620L2 match within a predetermined tolerance, the bot 110 knows substantially exactly where it is located in the extraction passage 130A, and the bot position in the extraction passage 130A is, for example, Updated by the bot controller 1220. Once the estimated position of the bot 110 (when the next slat 620L2 is sensed by the sensor) is confirmed using information in the structure file, the slat / bot position is corrected. If there is no match or confirmation, the signal output from one or more of the sensors 700, 701 is ignored and the substantially accurate position of the bot is not updated, rather the bot controller 1220 continues to Continue to use the estimated position obtained from the wheel encoder 720 until the position of the sensed slat is confirmed / corrected. Note that in the embodiment, the travel distance of the bot may be reset every time the slat position is corrected. By resetting the mileage of the bot, any constructed tolerances or other accumulated tracking errors caused by, for example, the wheel encoder 720 can be substantially eliminated. Alternatively, the bot mileage may not be reset as each slat is modified, in which case the bot controller or any other suitable controller of the storage and retrieval system may modify the position of the slat and May be configured to take into account any tolerances or accumulated tracking errors in the wheel encoder 720.

  Referring to FIGS. 2 and 12, a bot positioning system similar to that described above with respect to the position of the bot in the extraction passage 130A is associated with the holding areas A, B on the shelves of the multilevel vertical conveyors 150A, 150B. It may be used to determine the position of the bot 110. As seen in FIG. 12, each shelf 1000 of multi-level vertical conveyors 150A, 150B may be configured to hold a plurality of case units. In this example, for example, a US patent application entitled “LIFT INTERFACE FOR STORAGE AND RETRIVAL SYSTEMS” (No. 12 / 757,354) and US Patent Application No. 12 entitled “STORAGE AND RETRIVAL SYSTEM”. As described in US Pat. No./757,220 (both already referred to and included in this specification), the two case units 1001 and 1002 are arranged in holding regions A and B having a side-by-side arrangement. Held on a conveyor shelf. Conveyor shelf 1000 is coupled to the drive system to rotate around a predetermined path and passes through different levels of the storage and retrieval system to deliver the case units to different levels.

  The storage and retrieval system is configured such that the bot can be moved to the transport area 295 to transport the case unit between the bot 110 and the holding areas A and B of the conveyor shelf 1000. The transfer area 295 may include a wall 1100 or other suitable structure or surface configured to support any suitable number of false slats 1620 (FIG. 13, block 1500), for example. As the bot moves in the transport area 295, the wall 1100 can be positioned between the bot 110 and the conveyor shelf 1000. In this embodiment, the false slat 1620 is substantially similar to the slat 620L, but is simply attached to the wall 1100 (rather than extending the depth of the storage shelf) and holds or supports the case unit. It is not configured as such. The pseudo slats 1620 are long enough (eg, extending from the wall surface) so that one or more sensors 700, 701 (FIG. 13, block 1510) of the bot 110 can detect the false slats 1620. May be. This is because the false slats reflect the sensor beams 700B, 710B in the case of the beam sensors 700, 701 to position the bot 110 relative to the holding areas A, B of the conveyor shelf 1000, substantially as described above. It should be understood that any suitable configuration for returning to the sensor may be taken. For example, if a proximity sensor is used, the false slats may take any suitable configuration that interacts with the proximity sensor. The pseudo slats 1620 may also be configured in any suitable configuration to interact with any suitable sensor in the bot 110 in order for the sensor to output one or more “on / off” signals, as described above. It should be understood that it may be taken.

  The fake slats are shown in FIG. 12 as protruding from the wall 100, but even as described above, even a substantially flat surface configured to interact with the sensors 700, 701. Good. For example, the wall or structure 1100 may have an antireflection surface to which a reflector is attached. The reflector can interact with the sensors 700, 701 and can be used in a substantially similar manner as a false slat for emitting the on / off sensor signals S700, S701.

  In operation, the bot 110 may receive instructions from the control server 120 to transport case units, such as, for example, case units 1001, 1002, to or from the conveyor shelf 1000. The instruction can point out which holding area A or B the case unit is placed in. The bot 110 can move into a transport area 295 corresponding to the conveyor shelf 1000 where the bot 110 should transport the case units. During movement within the transport area 295, one or more sensors 700, 701 of the bot 110 can sense or otherwise detect the false slats 1620 in the manner described for the slats 620L (FIG. 13). , Block 1520). As each slat is detected, an “on / off” signal may be generated through the sensor output, similar to signals S700, S701 described above (FIG. 13, block 1530). When a false slat 1620 is detected, for example, in a predetermined false slat arrangement in the storage and retrieval structure file, the bot 110 may compare the position of the bot (FIG. 13, block 1540). The position of each false slat 1620 is correlated with the corresponding holding position A, B of the conveyor shelf 1000, so that the false slat position detected by the bot and the predetermined position are within a predetermined tolerance. If there is a match, the bot knows substantially exactly where it is located in the transport area 295 associated with the holding areas A, B of the conveyor shelf 1000 (FIG. 13, block 1550). The position of the false slats 1620 corresponds to the position of the fingers 1000F of the conveyor shelf 000, and the fingers 110F of the bot arm 110A are extended to extend between the fingers 1000F without contacting the conveyor shelf 1000 to remove / place the case unit. Note that they can be arranged between false slots 1620.

  In a manner substantially similar to that described above, the location of the false slats 1620 detected by the bot 110 and the predetermined location of the false slats specified in the structure file are within a predetermined tolerance. If not, the sensor signal corresponding to the detected false slat may be ignored. The number of false slats or the length of the transfer area 295 is re-detected by the bot 110 if the bot 110 is not allowed to move to another false slat to determine its position within the transfer area 295. As is done, the bot can change its direction of travel. There may be a “starting false slat” that provides the bot 110 with an absolute position location within the storage structure. The starting false slat can be placed at a predetermined location in the transport area 295, such as the beginning or entrance of the transport area 295. If the position of the bot 110 cannot be determined within the transport area via false slat detection, the bot moves to the “starting false slat” position and redetects the false slat 1620 as described herein. be able to. For example, if a bot sensor is placed between the false slats or the position of the bot 110 cannot be determined from the false slats 1620, one or more of the estimated positions may be continuously updated in the manner described above. Information from the wheel encoder 720 can be obtained by the bot 110 (FIG. 13, block 1560).

  As described above, the false slats 1620 may form an incremental or absolute encoding system to determine the position of the bot 110 relative to the conveyor shelf holding areas A, B, in which case the bot 110's The fingers 110F can be arranged in a case unit on the conveyor shelf 1000, in this example, the case unit 1002. In some examples, the false slats 1620 can extend the length of the transport area 295, while in other examples, the false slats 1620 can have a multi-level vertical conveyor access arrangement in the transport area 295 (eg, the bot 110 is stopped). It should be noted that it can only be placed at a location where the conveyor shelf 1000 is accessed. Lines can be affixed or otherwise disposed at other suitable locations, such as a deck or transport area 295 and / or walls of a multi-level vertical conveyor access arrangement. These lines may be arranged across the direction of movement of the bot in a predetermined arrangement, in which case a sensor on the bot 110 is used to determine the bot position in the storage and retrieval system. As the machine moves through the transport area 295 and / or the multi-level vertical conveyor access arrangement, a line can be detected. As the bot passes the side of the sensor to determine the bot position, the line or lines may be alternately placed on the bottom or side of the bot so that the sensor can detect the line. It should be understood that the sensor may be located on the deck or wall of the storage and retrieval system.

  Referring again to FIG. 7A, in this embodiment, the bot 110 is configured with one or more suitable case sensors 703, 704 that are configured to sense the case unit 101 stored on the shelf 600. May be included. Some non-limiting examples of case unit sensors can be found, for example, in US patent application Ser. No. 12 / 757,312 already included herein. In one example, case sensors 703, 704 may include one or more laser sensors and ultrasonic sensors. In another example, the case sensors 703, 704 may be substantially similar to the sensors 700, 701 described above. The case sensors 703 and 704 may be configured such that the bot 110 can sense each case unit 101 when the bot moves along the take-out path. Case sensors 703, 704 are coupled to any suitable controller, such as, for example, control server 120 and / or bot controller 1220 so that the pattern or sequence of case unit 101 is recognized to assist in locating bot 110. May be. For example, the control server 120 may include a “map” or “fingerprint” of case units (respective size, position, distance between case units, etc.) for each take-out passage. When the bot 110 moves through the take-out passage, a controller such as the control server 120 (or bot controller 1220), for example, from case sensors 703, 704 indicating the size and relative position of the case unit 101 through which the bot passes. Can be received and interpreted. For example, the control server 120 compares these signals to the case unit map / fingerprint, for example, to determine which passage has a bot and where in the passage the bot is located (eg, the location of the bot in the passage). can do. In one example, when the bot 110 is down the take-out passage, the case unit 101 is sensed, and the control server 120 may determine whether the bot 110 is in the correct passage based on the sensed case unit. it can. Note that when a case is added or removed from the shelf 600, the fingerprint of the case can change.

  As can be seen in FIG. 14, for illustrative purposes only, an end view of several take-out passages 130A1-130A3 each having multiple levels 670-675 (eg, looking down the passage toward the transport deck). Is shown). In this example, levels 672 and 675 include a passage floor 130F for providing maintenance access to one or more levels of removal passage 130A2. Level 675 aisle floor 130F can provide, for example, access to storage levels 673-675 (eg, maintenance access zone Z1), and level 672 aisle floor 130F can be provided, for example, at storage levels 670-700. Access to 672 (eg, maintenance access zone Z2) may be provided. The level at which the aisle floor 130F is located is exemplary only, and in an alternative embodiment, any suitable number of take-off passages in the floor can be stored in any number to provide maintenance access in the take-off passages. It should be understood that the level can be provided. Also, it is understood that storage levels 670-675 may or may not be grouped in any suitable manner to form one or more maintenance access zones. Should.

  Access to each level 672, 675 with a passage floor 130F can be made in any suitable manner using any suitable access device 16810 of the corresponding maintenance access gateway (210B, FIGS. 3 and 310B, FIG. 4). (FIG. 16). In one example where the storage structure is a single-ended structure, the access device 16810 may include one or more platforms, ladders, elevators, or others disposed at the end of each passageway, for example, in the maintenance access gateway 210B. It may be a lifting device. In another example where the storage structure is a double-ended structure, in addition to or instead of having access located at the end of the structure as described above with respect to the single-ended structure, for example, the maintenance gateway 310B The access device 16810 can be placed between the transport decks 130B adjacent to each passageway at any suitable location in the storage and retrieval system. The access device 16810 of the maintenance access gateway 210B, 310B is, for example, a rack or platform structure in which the entire width W of the storage structure (eg, across the length of the retrieval passage) extends or a part of the width W extends. Here, the rack structure may be, for example, one or more ladder steps, ladders, or other floors that each pass between the floor corresponding to the floor 130F of the aisle and maintenance personnel between the rack structure floor. Includes structure. It should be noted that in this embodiment, any suitable device or structure may be used to provide access to the maintenance personnel aisle floor 130F.

  Referring to FIG. 15, one or more suitable barriers 15700, 15701, for example at the end of the take-out passage 130 opposite the transport deck (where the storage structure is a one-end structure), and And / or can be provided substantially inside or next to the maintenance access gateway 310B (where the storage structure is a double-ended structure), for example, the bot 110 exits the take-out passage and, for example, the maintenance access gateway (210B, 310B, FIGS. 3 and 4) are substantially prevented from entering. As can be seen, also, for example, a barrier placed at the end of the take-off path (eg, opposite the transfer deck) in a one-end structure may or may not have a maintenance access gateway located at the end of the take-out path. Rather, while the storage and retrieval system 100 is in operation, the moving bot 110 can be substantially prevented from exiting the retrieval passage. As can be seen, the barrier at the maintenance access gateway 310B of the double-ended removal structure provides full access to the sides A, B of the extraction passage 130A when the storage and removal system is operated for storage and removal of the case. For example, it may be removed from at least the removal passage which is not locked out.

  One or more barriers 15700, 15701 may be in the form of one or more nets, but the barrier is also in the form of a bar (substantially similar to that described below), It may be in the form of a screen (having a structure that is substantially similar to the net but more substantially harder), or any other suitable barrier that substantially prevents the bot from passing through the barrier. . In one example, a barrier 15700, 15701 may be provided for each group of storage levels 670-675 using the floor 130F of the respective passageway. For example, the barrier 15700 may be provided for the maintenance access zone Z1, and the barrier 15701 may be provided for the maintenance access zone Z2. Barriers 15700, 15701 can be removably or movably attached to, for example, one or more of the vertical or horizontal members 610-612 of the storage structure, for example, at least to allow maintenance personnel to enter the retrieval passage 130A2. Can be partially detached or opened. For example, if the barriers 15700, 15701 are in the form of a net, a clip or other removable attachment can be used to fasten the net to the vertical and / or horizontal members 610-612 and store at least a portion of the net in a storage structure You may make it accessible in the extraction channel | path 130A2 by removing from a thing. If the barriers 15700, 15701 are in the form of bars or screens, hinges or other movable couplings can be used, and the bars or screens essentially act as doors or gates, allowing access to the extraction passageway 130A. To do. The barriers 15700, 15701 can be configured to allow access to the retrieval passage in any suitable manner.

  If barriers 15700, 15701 are used in a double-ended storage structure, such as maintenance access gateway 310B (FIG. 4), barriers 15700, 15701 may have one or more of the retrieval paths only when the retrieval path is locked out. Note that a level may be provided (e.g., when the take-out passage level is in operation for storage and removal of the case, the barrier is absent during cooperating take-off passage level operations). I want to be. In one example, referring briefly to FIG. 4, if a maintenance person is accessing the removal path 130A4 from the left of the storage and retrieval system 300 via the maintenance access gateway 310B, the movable barrier may be, for example, a retrieval path. Upon a desired level of lockout of 130A4, it is automatically positioned and blocks one or more sides of one or more desired storage level maintenance access gateways (eg, the barrier is optional Placed in the take-out passages 130A1-130A4, through which the maintenance personnel travel to reach the locked-out passage). Maintenance access gateway 310B can be configured in any suitable manner to provide access to any desired storage level in any desired passage without blocking other retrieval passages. The barrier can be moved in any suitable manner to a location that blocks the desired level of one or more extraction passages.

  Referring to FIGS. 16 and 17, examples of barriers used, for example, in any suitable area of the storage and retrieval system 100 that are substantially inaccessible to maintenance personnel when the system is operating, are shown. Has been. These barriers block the passage of bots within the storage and retrieval system 100, for example when a predetermined maintenance access zone is locked out and before maintenance personnel enter the locked out maintenance access zone. May be moved (e.g., to substantially prevent the bot 110 from entering a locked-out maintenance access zone). The barrier may also be configured such that when maintenance personnel are placed in the maintenance access zone, the maintenance personnel can activate the barrier or place it in an appropriate location. In FIG. 16, for example, one storage level of the storage and retrieval system 100 is shown, but one or more levels of the storage and retrieval system include a barrier that is substantially similar to that described herein. It should be understood that this may be done. Barriers 16800-16803 can be placed in any suitable location within storage and retrieval system 100, and the barriers 16800-168003 shown in FIG. 16 are shown only as an exemplary arrangement. It should be understood that the entrance / exit to each take-out passage 130A and each transfer area 16895 may have a barrier disposed thereon. Also, although only one barrier 16803 is shown on the transport deck 130B, other barriers may be placed on the transport deck to divide the transport deck 130B into any suitable number of maintenance access zones. Should be understood. For exemplary purposes only, the maintenance access zone Z3 is shown to include a removal passage 130A, and as described above, the maintenance access zone Z3 is shown in FIG. 14 for the maintenance access zones Z1, Z2. It can extend above and below the storage level shown in FIG. 16 to include additional storage levels in a manner substantially similar to that shown. Maintenance access zone Z5 is shown as including a transport area 16895 for multi-level vertical conveyor 150. With respect to the multilevel vertical conveyor 150, the maintenance access zone Z5 extends to all of the transport areas (eg, vertical overlaps of the transport areas) cooperating with the special multilevel vertical conveyor 150 being locked out. Note that the multi-level vertical conveyor 150 becomes inoperable or stops when placed in the transport area 16895 corresponding to the multi-level vertical conveyor 150. Maintenance access zone Z4 is shown as including a portion of transport deck 130B. In a manner similar to that described above with respect to FIG. 4, the maintenance access zone Z4 of the transport deck 130B accesses the transport area 16895 where the bot 110 crosses the deck and cooperates with the take-out passage 130A and the operating portion of the transport deck 130B. At least a part of the transport deck 130B is operable (for example, for storing and taking out the case) in order to allow the operation to be performed.

  Barriers 16800-16803 may be any suitable barrier configured to substantially prevent, for example, bot 110 from passing through the barrier (including passing up and down). Although some exemplary barriers 17901, 17902, 17903, 17950 are described in connection with the extraction passageway 130A, a substantially similar barrier is present on the transfer deck 130B (see barrier 16803) and in the transfer area 16895. It can also be placed at the inlet / outlet (see barriers 16801, 16802).

  In an embodiment, the barrier 17902 can be a substantially bar-like or gate-like barrier that rises and falls linearly, for example, to block the entry / exit, for example, at the storage level of the removal passage 130A. The barrier 17902 can be moved up and down in the direction of arrow 17997 in any suitable manner, and can be movably attached to the vertical support 612 of the storage and retrieval system 100, for example, in any suitable manner. As can be appreciated, when the barrier 17902 is retracted, the surface of the transport deck 130B and / or the bot 110 may fall below the track 1300 to which it moves.

  In an embodiment, the barrier 17901 is a pivotable barrier. Barrier 17901 is substantially similar to barrier 17902, but does not rise or fall linearly. The barrier 17901 can be pivoted up from a substantially horizontal orientation to a substantially vertical orientation, for example in the direction of arrow 17998. In this example, when the barrier is in a horizontal orientation, the barrier is partially disposed within the transport deck and is substantially the same as the extraction path 130A in which the surface of the transport deck 130B and / or the bot 110 is moving. Or the lower surface. The barrier 17901 can also be offset from the transfer deck 130B so that when in a horizontal orientation, substantially all of the barrier is located in the take-out path. In one example, the direction in which the barrier 17901 pivots may prevent the bot 110 from pivoting to a horizontal position if the bot 110 impacts the barrier 17901 when entering the take-out passage 130A. . The barrier 17901 may pivot in any suitable direction.

  In embodiments, the barrier 17903 may be in the form of one or more vertically pivoting barriers 17903A, 17903B. In this example, the barrier 17903 is shown as having two opposing pivotable members 17903A, 17903B, and the barrier 17903 also has more or less vertically pivotable members. May be. The one or more pivotable members may also be pivotable in a horizontal rather than vertical direction in a manner substantially similar to a door or gate. Each pivotable member 17903A, 17903B can be pivotally attached to the respective vertical support 612 of the storage and retrieval system in any suitable manner and can be open and closed (eg, through which a bot can pass). It can be driven in the direction of arrows 17999A, 17999B in any suitable way between the positions (bots cannot pass).

  Referring also to FIGS. 17A and 17B, when using a screen, net, or other suitable flexible barrier, the barrier 17950 can hold, for example, one or more drums 17952 (or the barrier). Other suitable members) and can be coupled to one or more drive units 17951 through connecting members 17951C. In one example, one or more drums 652 may be used to track or rail 1300 and transfer deck 130B over which bot 110 travels (eg, on a storage level with floor 130F, FIGS. 14, 15). And one or more drive units 17951 are located towards the beginning of each maintenance access zone (see, for example, zones Zl and Z2 in FIG. 14). May be. In other examples, one or more drums 652 can be positioned substantially below the truck 1300 and transport deck 130B on which the bot 110 travels toward each of the storage levels, and One or more drive units 17951 may be arranged towards the beginning of each storage level. Note that the arrangement of one or more drive units 17951 and one or more drums 17952 may be reversed. One or more drive units 17951 can be operated to retract the connecting member 17951C in the direction of arrow 17994. The connecting member can be attached to the barrier 17950 in any suitable form, and when the connecting member 17951C is retracted, the barrier 17950 is unwound from the drum 17952 and is substantially similar to that shown in FIG. In form, the barrier is substantially at the beginning of each storage level (or substantially at the beginning of each maintenance access zone) from the bot moving surface of the respective storage level (or storage level with floor 130F). It will extend to.

  It should be understood that the barriers described herein are merely exemplary, and in other embodiments the barriers may be any suitable barrier that operates in any suitable manner. It should also be understood that the type of barrier used in the storage and retrieval system need not be uniform, and different types of barriers can be used in different areas of the storage and retrieval system.

  Referring again to FIGS. 14 and 16, each maintenance access zone Z1-Z5 may have a control unit 680, 681. The control units 680, 681 can communicate with the control server 120 (FIG. 1) in any suitable manner, for example, via a wired or wireless communication network. Although only two control units 680, 681 are shown for the maintenance access zones Z1, Z2, it should be understood that other maintenance access zones can include substantially similar control units. Also, the control units 680, 681 are shown as being located at the entrance of the maintenance access zone (eg, the entrance may be at the end of the take-off passage in FIG. 14), but the control unit is centered It should be understood that they may be arranged in Each control unit can include a switch 660. Once the switch is turned on by maintenance personnel, some of the switches (or other features of the control unit) may be disengaged from the control units 680, 681 to substantially prevent it from being turned off by other maintenance personnel. (Eg, the switch cannot be turned off without replacing the removed part of the switch / control unit). In another example, the switch can include a “lockout” function, through which a locking device can be inserted through the switch, eg, a fixed portion of the control unit housing is prevented from switching off (eg, In order to switch off, the locking device must be removed). It should be understood that the switch may take any suitable configuration.

  Referring to FIGS. 14, 16 and 18, in operation, maintenance personnel turn on switches 660 in the desired maintenance access zones Z1-Z5. (FIG. 18, block 191000). When the switch 660 is activated, a communication signal is transmitted from each control unit 680, 681 to, for example, the control server 120 (FIG. 1). The control server 120 may send an instruction to leave or leave the desired maintenance access zone to any bot 110 located in the desired maintenance access zone Z1-Z5. When the operational bot 110 is unable to leave the desired maintenance access zone (eg, due to a bot failure, removal path closure, etc.), the control server 120 can enable the bot 110 to shut down. The control server can enable shutdown of bots within the maintenance access zone in addition to or instead of instructing the operable bot 110 to leave the desired maintenance access zone (e.g., carry the case). Bots that are in the process of leaving, while bots that are not carrying the case are shut down). If the desired maintenance access zone also includes a moving part of a storage and retrieval system, such as a multi-level vertical conveyor 150, the control server 120 also stops or shuts down one or more multi-level vertical conveyors. In order to do so, instructions can be sent to one or more multi-level vertical conveyors in the maintenance access zones Z1-Z5. (FIG. 18, block 191001). The control server 120 can enable the installation of the barriers 16800-16803 associated with the maintenance access zones Z1-Z5 by any suitable means (FIG. 18, block 191002). For example, the control server 120 can enable activation of any suitable drive unit to rotate, pivot, and unwind the barriers 16800-16803 (eg, as described above with respect to FIGS. 17-17A). ), The activated barrier substantially blocks the entrance / exit of the desired maintenance access zone Z1-Z5 and substantially prevents the bot 110 from entering the desired maintenance access zone Z1-Z5. Are barriers such as nets 15700, 15701 (FIG. 15) located between maintenance access gateways 210A, 210B, 310A, 310B (FIGS. 3 and 4) providing access to maintenance access zones Z1-Z5 removed? Alternatively, it can open and allow maintenance personnel to enter the desired maintenance access zones Z1-Z5 (FIG. 18, block 191003). In embodiments, opening the barriers 15700, 15701 to allow maintenance personnel to enter the maintenance access zone may be performed by maintenance personnel and / or the bot entering the maintenance access zone is substantially The barriers 15700, 15701 may be automated such that the barriers 15700, 15701 open substantially after the one or more barriers 16800-16803 have been placed in a state where they cannot be (see above for FIGS. 17-17A). And in a substantially similar manner). It should be understood that the barrier can be opened and removed to access or access the respective maintenance access zone by any suitable means.

  Referring to FIG. 19, storage modules 501, 502, 503,..., 50Xn may be arranged on one side of transport deck 130B, while multi-level vertical conveyor 150 is on the other side of transport deck 130B. Is arranged. In an embodiment, the transport deck 130B may include, for example, a stack of substantially looped decks, or vertical rows, where each level of the storage structure 130 is one or more. Each transport deck 130 is included. In embodiments, the transport deck can have any suitable shape and configuration. In one example, each of the transfer decks 130B can form a unidirectional movement loop L1, where the bot moves, for example, clockwise or counterclockwise (ie, the bot 110 is in the Are configured to couple all of the storage passages 130A on each level to a corresponding multi-level vertical conveyor 150 on each level. In embodiments, the transport deck may be bi-directional to allow the bot to move about the transport deck 130B in a substantially opposite direction. A suitable example of a transport deck 130B that can be used in the embodiments described herein is, for example, US patent application Ser. No. 12 entitled “Autonomous Transports for Storage and Retrieval Systems”, which is already included in its entirety. / 757,312 specification. Although for illustration purposes only five multi-level vertical conveyors 150 are shown in FIG. 19, in an embodiment, the storage and retrieval system can have more or less than four multi-level vertical conveyors.

  The transport deck 130B may have, for example, main movement lanes 130BA and 130BB coupled by any appropriate number of shunts 130BS. The shunt 130BS may be configured to allow movement of the bot 110 to and from the main movement lanes 130BA, 130BB along the main movement lanes 130BA, 130BB at any suitable predetermined interval. Bot 110 does not have to traverse the entire movement loop L1. In embodiments, the shunt 130BS may be substantially aligned with the storage passage 130A along the length of the transfer deck 130B, but in embodiments, the shunt has any suitable spatial relationship to the storage passage. It may be.

  The movement lanes 130BA and 130BB of the transport deck 130B may be wider than the movement lane in the passage 130A of the storage structure 130. For exemplary purposes only, for example when moving over or off the transport deck 130B, the travel lane of the transport deck 130B may be configured such that the bot 110 makes different types of turns (see above already). As described in US patent application Ser. No. 12 / 757,312 entitled “AUTONOMOUS TRANSPORTS FOR STORAGE AND RETRIEVAL SYSTEMS”. Different types of turns may correspond to the desired orientation of the bot 110 in the storage passage 130A, or the lane of the transport deck 130B on which the bot 110 is moving. The transfer deck floor may have any suitable structure configured to support the robot 110 as it crosses each one or more transfer decks 130B. For exemplary purposes only, the transfer deck floor may be substantially similar to the storage passage floor described above. The deck of the transfer deck may be supported by a grid of frames and columns, which may be in any suitable manner, for example with one or more vertical supports 612 and horizontal supports 610, 611, 613. It may be combined. For example, in an embodiment, the transfer deck may include a cantilevered arm, the arm corresponding to one or more vertical supports 612 and corresponding slots in the horizontal supports 610, 611, 613, It can be driven or inserted into a recess or other opening. In embodiments, the transfer deck floor may be supported by any suitable structure. As will be appreciated, the transport deck floor pitch may be substantially similar to the respective channel floor pitch.

  In an embodiment, storage structure 130 may include a personnel floor 280 (which may include a maintenance access gateway) that cooperates with each level of the storage structure. The personnel floor 280 is substantially similar to that described in US patent application Ser. No. 12 / 757,381, filed Apr. 9, 2010 and entitled “Storage and Retrieval System”. The disclosure of this application is hereby incorporated by reference in its entirety. For example, the personnel floor 280 can be located, for example, in or near the passage of the storage structure and / or the transfer deck 130B. In an embodiment, the personnel floor may be suitably arranged to provide access and access to one side of the transfer deck from within the storage structure, where other transfer decks 130B may be provided. The opposite side is accessed via any suitable work platform / scaffold adjacent to the work area for personnel and / or the multi-level vertical conveyor. In an embodiment, the personnel floor 280 may extend the entire length of each passage 130A or transfer deck 130B. In an embodiment, personnel floor 280 may have any suitable length. Personnel floors 280 may be spaced vertically apart from each other at predetermined intervals, where the space between personnel floors 280 is not a limiting example, but is within the bot 110, storage structure. A work zone for personnel is provided to solve problems associated with items stored in the storage and the storage structure itself. Personnel floor 280, by way of example, may be configured to provide a walking surface for service technicians or other personnel, where the walking zone is separated from the travel lane of bot 110. Access to the personnel floor can be provided, for example, via any suitable access gateway or point in the storage structure. A movable barrier or other suitable structure can be provided along the passage 130A and the transfer deck 130B, for example, to further separate unintended interactions between the bot 110 and personnel. In an embodiment, in normal operation, the movable barrier is in a loaded or retracted position, allowing, for example, the bot 110 to pass or access the storage shelf 600. A movable barrier is used to block bot 110 access to one or more passages or portions of the transfer deck in which personnel are located when personnel are in a predetermined zone or location of storage structure 130. It can be placed in an extended position. In one example of a storage structure maintenance operation for a predetermined zone of storage structure 130, all active bots 110 can be excluded from the predetermined zone. A bot 110 that requires maintenance may be disabled or deactivated in a predetermined zone. The movable barrier can be extended to prevent the movable bot 110 from entering a predetermined zone, and any locks that prevent access to the personnel floor may be released or removed. Extension and retraction of the movable barrier, deactivation of the bot 110, and removal of the bot 110 from the predetermined zone may be any suitable control, such as, for example, the central control server 120 or mechanical and / or electromechanical interlock. It can be controlled by any suitable means such as a system. It should be noted that in embodiments, the storage and retrieval system may include any suitable personnel access not limited to those described above.

  The main travel lanes 130BA, 130BB can give the bot 110 access to the access platform 150V for each multi-level vertical conveyor 150. As seen in FIG. 19, the access platform 150V couples each multi-level vertical conveyor 150 to the transport deck 130B. In one example, each of the access platforms can include a transition area 150TA and a conveyor interface area 150IA. The transition area 150TA is such that, for example, the bot 110 can move from a substantially non-contact guided movement on the transport deck 130B (eg, a movement released from a rail or track restraint) to a rail in the conveyor interface area 150IA. It may be configured to allow movement to guided movement such as by a trajectory. Transition region 150TA is also described, for example, in US patent application Ser. No. 12 / 757,337 entitled “Control System for Storage and Retrieval Systems”, which is already incorporated herein by reference. The bot 110 may be combined with the bot passage on the transport deck 130B. Note that the guided movement of the bot 110 within the conveyor interface area 150IA may be substantially similar to the guided movement of the bot 110 within the storage passage 130A, for example. In embodiments, the bot can be guided within the conveyor interface area in any suitable manner, as appropriate. The entry / exit platform 150V may be configured to allow the bot 110 to interact with the respective multi-level vertical conveyor 150 without substantially impeding movement of the bot along the travel lanes 130BA, 130BB. Good. The shunt 130BS can also be substantially aligned with each of the transition areas 150TA to allow access to the multi-level vertical conveyor from either of the main travel lanes 130BA, 130BB without traversing the entire travel loop L1. .

  As will be appreciated, the configuration of the storage and retrieval system 100 is scalable and can be changed for any suitable reason such as, but not limited to, changes in storage capacity or product processing capacity. . As one example, to meet any desired requirements of the warehouse in which the storage and retrieval system 100 is located, a bot 110, a multi-level vertical conveyor 150, a storage bay / shelf, a transfer deck 130B, a transfer deck shunt 130B. Or other suitable components of the storage and retrieval system 100 can be added or removed.

  With reference to FIGS. 20A-20C, an example of an expansion of the storage and retrieval system 100 is shown. In FIG. 20A, a storage and retrieval system 20101 is shown. The storage and retrieval system 20101 may be substantially similar to the storage and retrieval system 100 described above. However, in this example, the transport deck 130B extends to accommodate any suitable number of additional storage bays 130N on one side of the original storage bay 130. FIG. 20B shows a storage and retrieval system 20102 (which may be substantially similar to the storage and retrieval system 100), extended so that the deck extends from both sides of the original storage bay 130N. It has a transfer deck 130B. In this example, any suitable number of additional storage bays 130N1, 130N2 may be added on both sides of the storage and retrieval system. FIG. 20C shows another storage and retrieval system 20103 (which may be substantially similar to storage and retrieval system 100). Here, the transport deck 130B extends to include additional multi-level vertical conveyors 150N1, 150N2. In an embodiment, the length of each storage passage may be increased to increase the storage area of the storage and retrieval system. As can be appreciated, any suitable number of storage bays and / or multi-level vertical conveyors can be added to or removed from the storage and retrieval system. For example, if the capacity or throughput of a multi-level vertical conveyor 150 is greater than the throughput of items through a storage passage / bay, additional levels are required to balance the multi-level vertical conveyor and storage bay, and vice versa. A storage aisle / bay may be added. As another non-limiting capacity management example, any suitable controller of a storage and retrieval system, such as control server 120, controls bot 110 to move along transport deck 130B and a multi-level vertical conveyor. And function as a buffer or accumulator. If the multi-level vertical conveyor capacity is less than the throughput capacity of the items through the storage passage / bay, the bot 110 will allow the control server 120 to allow the multi-level vertical conveyor to accept the items carried by the bot until It may be instructed to slow down movement along the mobile deck 130B or stop at a designated area or areas of the mobile deck 130B. If the multi-level vertical conveyor capacity is greater than the storage path / bay capacity, the multi-level vertical conveyor 150 receives one or more items for transportation by the bot to the storage path / bay storage configuration. The items may be carried in a substantially continuous loop until room is available. In embodiments, the processing capabilities of the storage and retrieval system components can be managed in any suitable manner. As can be seen, the structure of the storage and retrieval system can be made such that additional components can be easily added or removed by any suitable means to change the configuration of the storage and retrieval system. For example, the storage and retrieval system components attach to each other in any suitable means, such as using mechanical attachments, clips, or any other suitable attachment (eg, including welding and chemical attachment), etc. Can be a modular component.

  Referring to FIG. 20D, another extension of the storage and retrieval system is shown. In this example, an additional storage passage level 130ALN has been added vertically to the storage and retrieval system, while in FIGS. 20A-20C, additional storage passage 130N has been added horizontally. These additional storage path levels 130ALN can be added between existing storage path levels 130AL and / or can be superimposed above and / or below existing storage path levels. In FIG. 20D, additional storage passages 130ALN are shown as being added between existing storage passages 130AL for non-limiting example purposes only. In this example, additional storage path levels 130ALN are added, but additional transfer decks 130B are not added so that each transfer deck works on more than one storage path level. In an embodiment, additional transport decks 130B may be added, and each storage path level has a respective transport deck 130B. In the example shown in FIG. 20D, any suitable vertical transport device 130L, such as a lift, elevator or ramp, is disposed between the transport deck 130B and the respective storage path levels 130ALN, 130AL so that the bot 110 is the storage path and Allow crossing between transfer decks. The embodiment shown here is a vertical transport device 130L incorporated into a storage structure, but in this embodiment, the bot is between different vertically spaced storage path levels from each one of the transport decks. A vertical transport device may be incorporated into the bot 110 in any suitable manner to allow it to move. In one example, a swivelable ramp 130LR may be provided to allow access to each one of the removal path levels 130ALN, 130AL from the transport deck 130B. In an embodiment, the ramps that provide access to each of the removal path levels from the transport deck may be fixed but are separated from each other in the horizontal direction, as seen in FIG. 20E, where the ramp 130LRL is transported. Provide access to storage passage level 130AL in substantially the same vertical plane as deck 130B, ramp 130LRD provides access to storage passage level 130ALN below storage passage level 130AL, and ramp 130LRU provides storage passage level 130 Provides access to storage aisle level 130ALN on 130AL. As will be appreciated, each of the transport decks 130B may function with the multi-level vertical conveyor 150 in the manner described above. A ramp 130LR or other suitable transfer device 130L is substantially connected to the transition region 150TA to allow the bot 110 to move from a substantially non-contact guided movement on the transfer deck 130B to a guided movement in the removal path 130A. May include a similar transition region.

  Referring to FIG. 20F, in another aspect, the storage structure can be configured such that one or more levels of storage shelves are accessed by one level of storage passages. For example, as described above, each storage passage includes a pair of rails 1300 disposed on either side of the storage passage over which the bot 110 travels. The pair of rails are vertically stacked such that one pair of rails 1300 (eg, storage path level 1300L) provides bot 110 access to one or more of storage shelves 600 stacked vertically. Are arranged. In one aspect, each storage path level 1300L can provide bot 110 access to one of the storage shelves 600, while in another aspect, each storage path level 1300L1 is greater than one level in the storage rack 600. Bot 110 access to can be provided. In yet another aspect, several storage passage levels (or portions thereof) can provide access to one level of a storage shelf, while other storage passage levels (or portions thereof, eg, the same of storage structures) (Or in different storage paths) can provide access to more than one level of storage shelf 600. The storage passage level 1300L is vertically spaced at any suitable distance Y1 (eg, the vertical distance between the rail pairs), allowing the placement of at least one storage level between the storage passage levels 1300L. It is. For illustrative purposes only, the distance Y1 is about 24 inches, for example, while in other examples the distance Y1 may be greater or less than about 24 inches. The distances Y <b> 2 and Y <b> 3 between the storage shelves 600 may be any appropriate distance that allows a case unit of any appropriate size to be placed on each storage shelf 600. For illustrative purposes only, the vertical distance Y2 between storage shelves 600F1 and 600F2 need only be sufficient to place a case unit about 5 inches high (or any other suitable height), while others In this example, the vertical distance Y2 may be any suitable distance for placing a case unit having a height of about 5 inches (or any other suitable height). Also, for illustrative purposes only, the vertical distance Y3 between storage shelves 600F2 and 600F3 need only be sufficient to place a case unit about 9 inches high, while in other examples the vertical distance Y3 is about Any suitable distance may be used to place a case unit having a height of about 9 inches. Although the above-described distances Y2 and Y3 are different from each other, the respective storage shelves can accommodate case units having different heights. In other embodiments, the distances Y2 and Y3 between the storage shelves 600 are substantially the same. There may be.

  Referring also to FIG. 20G, if one or more of storage passage level 1300L provides bot access to at least one level of storage shelf 600, bot 110 is used by storage passage level 1300L from storage passage level. The case unit 101 can be configured to be transported to any one of the storage shelf levels. For example, in one aspect, the bot may have a lift unit 110L configured to raise and lower the transport arm 110A of the bot 110 in the direction of arrow 20681. The transport arm 110A It can be extended or retracted in the direction of arrow 682 for transport between the bot 110 and each storage shelf level. The lift unit 110L is any suitable drive configured to raise and lower the transfer arm 110A, such as a hydraulic lift, ball screw mechanism, any suitable linear actuator, rail system, chain and sprocket system, belt and pulley. Such as a system, or any other suitable drive system. In order to support one or more case units 101 while transporting the case units between the bot 110 and the storage shelf 600, the transfer arm 110A includes fingers 110F. In one aspect, the lift unit 110L is configured to lift the transport arm as a unit, and the fingers 110F are still movable vertically with respect to the frame of the transport arm 110 and are arrowed using a common drive shaft. For example, US Patent Application No. 13 / 326,952, filed December 15, 2011, entitled “Automated Bot With Transfer arm” 1127P014264-US (PAR), US application number 61 / 423,365, filed December 15, 2010), and entitled "Bot Payload alignment and Sensing", December 2011 Rice filed on the 15th National Patent Application No. 13 / 327,040 (Attorney docket number 1127P14263-US (PAR), non-provisional application of US Application No. 61 / 423,220 filed on December 15, 2010 Which are already included herein by reference. Referring also to FIG. 20H, the bot 110 may also include a side blade 110SB attached to the bot arm 110A. One or more of the blades 110SB extend along the longitudinal axis of the bot 110 to align a pickface (eg, one or more case units 1101) on the bot arm 110A. To move in the direction of arrow 683. The translational movement of one or more side blades 110SB may allow the bot load to be positioned anywhere along the longitudinal axis of the bot within the bot load area, and the storage shelf 600 (and 600F1-600F3) fine adjustment of the positioning of the case on top can be provided. Note that in this embodiment, the side blade 110SB does not lift the case unit 1101 and assists in controlling the case unit 1101 while the case unit is removed and placed. One side blade 110SB is fixed and can serve as a reference for aligning the case units 1101.

  FIG. 21 illustrates another exemplary storage and retrieval system 20102 that can be derived from the storage and retrieval system 100. Storage and retrieval system 20102 can be substantially similar to storage and retrieval system 100. However, in the embodiment of FIG. 21, the storage and retrieval system 20102 includes a transport deck 130B, 130BX and a multi-level vertical conveyor 150 disposed at both ends of the storage structure 130.

  FIG. 22 is another storage and retrieval system 20103 according to an embodiment. In FIG. 22, the storage structures 830A, 830B, their respective transport decks 130B and the multilevel vertical conveyor 150 are arranged in an opposing relationship. The transport deck 130B can be coupled to, for example, the end of the transport deck, for example, by at least a shunt 130BS, forming a single transport deck 130BJ. As will be appreciated, shunt 130BS can be coupled to transport deck 130B at any suitable location along the length of transport deck 130B. In this example, each transport deck 130B forms a respective bot 110 movement loop L1A, L1B, while the shunt allows another movement loop L1C that encompasses smaller movement loops L1A, L1B. Access to the multi-level vertical conveyor 150 to introduce or remove items to or from the storage and retrieval system is arranged in this example so as not to interfere with the shunt 130BS associated with the conveyor, cart, or transfer deck 130B. Provided in any suitable manner, such as via any other suitable transport device.

  Referring to FIG. 23, another exemplary storage and retrieval system 20104 is shown. The storage and retrieval system 20104 can be substantially similar to the storage and retrieval system 100 unless otherwise noted. In FIG. 23, the storage modules 501, 502, 503,..., 50Xn may be disposed on opposite sides of the transport deck 130B, for example, in a substantially symmetrically opposed configuration or “butterfly” configuration. In this example, the transport deck 130B extends beyond the storage passage 130A, where a multi-level vertical conveyor is coupled to the transport deck 130B at an extension of the transport deck, as will be described in more detail below. For exemplary purposes only, four multi-level vertical conveyors 150 are shown in FIG. 23, and in this embodiment the storage and retrieval system can have around four multi-level vertical conveyors.

  The substantially symmetrically opposed storage structure also has a storage passage arranged on one side of the transfer lane and has a transfer deck 130B when compared to a warehouse storage structure having substantially the same storage capacity. In addition, the number of storage passages 130A can be reduced, while the storage space in the storage passages can be increased. The substantially symmetrically opposed storage structure also has a transfer deck 130B and storage when compared to a warehouse storage structure having storage passages arranged on one side of a transfer lane having substantially the same storage capacity. A reduction in the travel time of the bot 110 on the passage 130A can be provided.

  In an embodiment, the transport deck 130B may have main travel lanes 130B1, 130B2 coupled to any suitable number of shunts 130BS that are substantially similar to those described above, for example. The main travel lanes 130B1, 130B2 can also provide the bot 110 with access to the access platform 150V for each multilevel vertical conveyor 150 in a manner substantially similar to that described above. As shown in FIG. 23, the arrangement of the multi-level vertical conveyor 150 and the respective entrance / exit stands 150V is substantially symmetrical with respect to the longitudinal center line LC1 of the transfer deck 130B. As such, they may be arranged oppositely in a substantially symmetric configuration.

  Storage structure 130 includes at least two opposing storage sections 231100A, 231100B extending in substantially opposite directions from transport deck 130B. In embodiments, there may be more than one opposing storage section. Each of the opposing storage sections 231100A, 231100B is substantially similar to each other, and the storage structure 130 is substantially symmetrical about the longitudinal centerline LC1 of the transport deck 130B. However, although the storage structure 130 itself may be substantially symmetric and opposed, the items stored in each storage section 231100A, 231100B may not have a substantially symmetric storage arrangement ( For example, the case unit / pick face assignment in each of the storage sections 231100A, 231100B is substantially independent of the case unit / pick face assignment in the other one of the storage sections 231100A, 231100B). In embodiments, case unit / pick face assignments within each of the storage sections 231100A, 231100B may also be substantially symmetric. As will be appreciated, the end of each storage passage 130A in the storage sections 231100A, 231100B may include a transition bay or region that is substantially similar to the transition region 150TA so that the bot 110 is a transfer deck. Allow to move up 130B.

  FIG. 24 illustrates another substantially symmetrically opposed storage and retrieval system 20105 according to an embodiment. In FIG. 24, the transport deck 130B ′ (which may be substantially similar to the transport deck 130B) extends on either side of the storage sections 231100A, 231100B, and each of the multi-level vertical conveyor groups 150G1, 150G2 It can be arranged on both sides of the storage section along the axis LC1. Each multi-level vertical conveyor group 150G1, 150G2 has four multi-level vertical conveyors, but in embodiments, each group may have any suitable number of multi-level vertical conveyors. In a manner substantially similar to that described above, the multi-level vertical conveyors 150 of each multi-level vertical conveyor group 150G1, 150G2 may be arranged in a substantially symmetrical and opposed configuration. However, in embodiments, the conveyor need not be substantially symmetrical and oppositely disposed. In this example, the multi-level vertical conveyor groups 150G1, 150G2 may also be arranged substantially symmetrically along the lateral centerline LC2 of the transport deck 130B '.

  Referring to FIG. 25, another storage and retrieval system 20106 having storage structures 130 '' that are substantially symmetrically opposed is shown in accordance with an embodiment. In this example, the storage and retrieval system 20106 can be substantially similar to the storage and retrieval system 20104 described above. However, in this example, the substantially symmetrically opposed storage structure 130 '' includes, for example, four storage sections 231100A, 231100B, 1110A, 1110B. Storage sections 231100A, 231100B, 1110A, 1110B are arranged in opposing pairs, where each storage area of the opposing pair is a transport deck 130B ″ (substantially similar to transport deck 130B described above). Are arranged on both sides. For example, storage sections 231100A, 231100B form a first pair of opposing storage sections, and storage sections 1110A, 1110B form a second pair of opposing storage sections. In embodiments, there may be more than one pair of opposing storage sections. These pairs of storage sections can be symmetrically opposed about the longitudinal centerline LC1 of the transport deck 130B ″ in substantially the same manner as described above with respect to FIG.

  In this example, the storage and retrieval system 20106 is disposed along a longitudinal centerline LC1 between a first pair of opposing storage areas 231100A, 231100B and a second pair of opposing storage areas 1110A, 1110B. Multi-level vertical conveyor 150. In this example, there are four multi-level vertical conveyors (e.g., opposing pair configurations as described above), but in embodiments, for example, arranged in opposing pairs or any other suitable arrangement, There may be more or less than four multi-level vertical conveyors.

  As can be seen in FIG. 25, the transfer deck also includes a lateral centerline LC2. In this example, the multi-level vertical conveyor 150 and the storage sections 231100A, 231100B, 1110A, 1110B are also substantially symmetrical about the lateral centerline LC2. Here, the first pair of storage sections 231100A, 231100B and the two multi-level vertical conveyors 150 are located on the first side of the lateral centerline LC2, while the second of the storage sections 1110A, 1110B The pair and the other two multi-level vertical conveyors are arranged in a configuration facing the second side of the lateral centerline LC2. As seen in FIG. 25, the storage and retrieval system 20106 is substantially symmetric along two axes (eg, LC1, LC2) of the transport deck 130B ″. As can be seen, there are four multi-level vertical conveyors as shown in FIG. 25, but in embodiments, there may be any suitable number of multi-level vertical conveyors disposed between storage section pairs. . As can be seen, in this embodiment there are two pairs of storage areas, but the storage areas are arranged in a substantially symmetrically opposed configuration with respect to the lateral centerline LC2 of the transfer deck 130B ″. There may be more than two.

  FIGS. 26 and 27 illustrate storage and retrieval systems 20107 and 20108 having multiple pairs of storage areas that are substantially symmetrically opposed. In FIG. 26, storage and retrieval system 20107 includes three pairs of storage sections 1301, 1302, and 1303 that face two groups 150 G of multi-level vertical conveyor 150. Access is provided to each storage area 130A of each multilevel vertical conveyor 150 and multilevel vertical conveyor group 150G and storage sections 1301, 1302, and 1303 by a transfer deck 130B ′ ″ that is substantially similar to the transfer deck 130B described above. Is done. In FIG. 27, the storage and retrieval system 20108 includes four pairs of storage sections 1401, 1402, 1403, 1404 facing three groups 150G of multi-level vertical conveyor 150. Access is provided to each storage area 130A of each multilevel vertical conveyor 150 and multilevel vertical conveyor group 150G and storage sections 1401, 1402, 1403, 1404, transfer deck 130B ′ ″ substantially similar to transfer deck 130B described above. Provided by '. As can be seen, the configuration of the substantially symmetrically opposed storage and retrieval systems 20107, 20108 of FIGS. 26 and 27 is merely exemplary, and in embodiments, the storage and retrieval systems 20107, 20108 can be any suitable There may be any number of multi-level vertical conveyor groups and / or opposing storage section pairs. In an embodiment, the storage and retrieval system 20107, 20108 may include one or two of the respective transport decks 130 ′ ″, 130 ″ ″, substantially similar to that described above in connection with FIGS. Multi-level vertical conveyor groups can be included at one or more ends.

  In addition to the configuration of the storage and retrieval system, for example, the travel time of the bot 110 along the transfer deck 130B and the storage passage 130A of the warehouse storage structure described herein can be determined in any suitable manner, for example, storage And managed by any suitable controller of the retrieval system. In one example, the control server 120 is configured to assign the bot 110 to operation with a predetermined multi-level vertical conveyor and / or storage path in a manner substantially similar to that described below. can do. For example, referring to FIG. 16, the control server 120 is configured to assign the bot 110 to operation with a predetermined one of the multi-level vertical conveyor group 159G and / or storage sections 1401, 1402, 1403, 1404. Can do. For illustrative purposes only and with reference to FIG. 26, the first group of bots 110 may be assigned to the operation of the multi-level vertical conveyor group 150GA and storage sections 1301, 1302, while the second group of bots Can be assigned to the operation of the multi-level vertical conveyor group 150 GB and the storage sections 1302, 1303. As can be seen, other suitable bot assignments can be made to the storage section and multi-level vertical conveyor group to control the travel time of the bot within the storage and retrieval system. In this way, the movement time of each robot along the respective storage path to which the transfer deck and bot are assigned is stored in the warehouse as described above in connection with FIGS. 19, 21, and 23-25. It is substantially the same as the time for moving the structure storage passage and the transfer deck. Similar bot assignments can be made to the warehouse storage structures of FIGS. 20A-20F, 22 and 27, or any suitable warehouse storage structure described herein.

  28-32, a bot position system using proximity sensors to determine the position of the bot relative to the take-off path 130A and / or the holding locations A, B on the shelves of the multilevel vertical conveyors 150A, 150B. It is shown. In this aspect, the bot 110 includes at least one proximity sensor module 281101 attached to the frame of the bot (FIG. 32, block 2500). Proximity sensor module 281101 is attached to the frame in any suitable arrangement and is shown as being attached to the frame under the load holding area of the bot for illustrative purposes. Here, the sensors are those described above on the rail 1300 (and / or on the walls of the transport area 295 and / or the multi-level vertical conveyor access arrangement (not shown)) on which the bot is moving through the removal passage 130A. Substantially the same as the target) or the position determination mechanism 1201 to 1203. In one aspect, the proximity sensor module 281101 includes a sensor mount 281101M that is movably attached to the frame of the bot 110 in any suitable manner. In one example, the sensor base 281101M is spring loaded as the bot 110 moves through the removal path (or transport area and / or multi-level vertical conveyor access arrangement) or the sensor base is arrowed. Cooperating to be slidable in the direction of 1400 and biased outwardly towards / to the rail 1300 (and / or the walls of the transfer area 295 and / or the multi-level vertical conveyor access arrangement) Yes. In one embodiment, the sensor base 281101M is an integrally formed guide member 281101G that rests in substantial contact along the rail 1300 (eg, the guide member is attached to a spring-loaded base. Held by the force BF against the rail 1300), and the substantially constant distance SX is close to the targets 1201-1203 regardless of the position change between the bot 110 frame and the target. It is maintained between the sensor 281101S. In other aspects, the guide member 1101G is fixed or attached to the sensor base 1101M in any suitable manner. The distance SX may be any suitable distance that allows the proximity sensor to sense the targets 1201-1203. In one example, the distance SX may be about 2 mm, and in another example, the distance SX may be around 2 mm. The proximity sensor 281101S can be attached or fixed to the sensor base 281101M by any suitable means, and can be any suitable proximity sensor (eg, magnetic sensor, capacitance sensor, inductance sensor, etc.). Can do. For exemplary purposes only, the proximity sensor may be a Hall effect sensor. Also, although only one sensor module 281101 is shown on the bot 110, in other embodiments, there are more than one disposed at appropriate locations on the bot to sense the targets 1201-1203. Note that a sensor module 281101 may be present.

  As described above and with reference to FIG. 29, targets 1201-1203 may be provided on rail 1300 in the take-out passage and / or on the walls of transfer area 295 and / or multi-level vertical conveyor access arrangement. (FIG. 32, block 2510). In one aspect, the targets 1201-1203 may be provided on rails on both sides of the take-out passage 130A so that the proximity sensor 281101 of the bot moves its position in the take-off passage in any direction of movement. Regardless of whether it enters the take-out passage, sensing the target can identify its position in the take-out passage and the bot can be taken out from both sides of the passage. In other embodiments, the target can be provided on one side of the take-out path, at least one proximity sensor module 281101 can be disposed on both lateral sides 110S1, 110S2 of the bot, and the direction of movement of the bot and Regardless, the target on one side of the passage can be sensed by the proximity sensor of the bot to allow the bot to be removed from both sides of the passage. As can be seen, the targets 1201-1203 may be placed on rails in a reference frame of a storage shelf or storage shelf area. For example, targets 1201-1203 have a predetermined relationship with slats 620L1, 620L2 or any other suitable mechanism of a storage shelf (eg, when the storage shelf is configured without slats or other). be able to. Targets 1201-1203 can be integrally formed with or attached to rail 1300, or can be secured to rail 1300 in any suitable manner. In one aspect, targets 1201-1203 can be formed in rail 1300 during manufacture of rail 1300. Targets 1201-1203 can have any suitable configuration that allows the target to be sensed or detected by proximity sensor 281101 of bot 110. For exemplary purposes only, in one aspect, the targets 1201-1203 may be openings, such as slots or holes, or recesses provided in the sidewall 1300B of the rail 1300. Also, for exemplary purposes only, the slot can be a slot about 6 mm wide and about 12 mm high, or a slot having any other suitable dimensions. In other aspects, targets 1201-1203 may be any suitable target for influencing proximity sensor 281101 to generate an on / off signal, as described below. The targets 1201 to 1203 may be provided in the rail 1300 with a predetermined interval (for example, the distance between the targets and the arrangement of each target are known), and the targets 1201 to 1203 are connected to the proximity sensor 281101. Along the way, for example, to determine the placement or storage of the bot in the retrieval passage 130A and any other suitable placement in the retrieval system 100, incremental (or absolute) and discrete position encoders are formed. In one embodiment, the targets 1201-1203 are spaced from each other by about 1 foot. In another aspect, the targets 1201-1203 are provided at a distance of about 0.3048 m. In yet other aspects, the targets 1201-1203 may have a varied spacing between the targets, for example providing an absolute position determination within any other suitable location of the retrieval path or storage structure.

  As described above, the targets 1201-1203 may be provided on the walls of the transport area 295 and / or multi-level vertical conveyor access arrangement. Substantially similar to that described above, the targets 1201-1203 are integrally formed within the walls of the transport area 295 and / or the multi-level vertical conveyor access arrangement or secured to the walls in any suitable manner. May be. The targets 1201-1203 in the transfer area 295 and / or multilevel vertical conveyor access arrangement are located on the walls in the reference frame of each of the transfer area 295 and / or multilevel vertical conveyor, and the targets 1201-1203 are In a manner substantially similar to that described above with respect to the take-off path, for example with a predetermined relationship with a shelf or transfer station of a multilevel vertical conveyor or any other reference point of the multilevel vertical conveyor.

  In a similar manner as described above, the controller 1220 of the bot 110 can have access to the storage and retrieval system structure file. The structure file includes an arrangement of each structural feature of the storage and retrieval system that includes the location of each target 1201-1203 within the respective retrieval passage 130A. The target 1201-1203 placement specified in the structure file can help modify the target placement, for example, to determine the position of the bot 110 in the retrieval path 130A. For example, when the bot moves, for example, along the extraction path, the bot 110 senses the targets 1201-1203 (FIG. 31, block 2520) using the proximity sensor module 281101, and is substantially similar to that described above. Proximity sensor module 281101 generates an on / off signal (FIG. 32, block 2530). The bot 110 uses the proximity sensor 281101 to modify one or more targets 1201-1203 of the rail 1300, where the bot controller 1220 is responsible for the bot mileage (eg, Compare the estimated position of the bot 110 using the wheel encoder 720 (obtained from the wheel encoder 720 in a manner substantially similar to that described above) and the placement of the targets 1201-1203 identified by the information in the structure file (FIG. 32). , Block 2540). When the estimated bot arrangement and the arrangement of the targets 1201 to 1203 from the structure file coincide with each other within a predetermined tolerance range, the bot 110 takes out the position of the bot (and the sensor detecting the slat), and takes it into the passage 130A. Is updated using the targets 1201-1203 so as to know the substantially accurate position (FIG. 32, block 2550).

  In a manner substantially similar to that described above, it can be configured to obtain travel distance information from the wheel encoder 720 of the bot 110 in the region between the targets 1201-1203, and the position of the bot 110 using the wheel encoder. To update the bot travel distance (determined from one or more rotations of the bot wheel, for example, adding the last updated position of the bot or any other appropriately determined position of the bot Update the estimated position of the bot 110 substantially continuously (FIGS. 32, 2560). For example, the estimated position of bot 110 in the region between targets 1201-1203 is, for example, last detected or updated in a manner substantially similar to that described above (eg, the position is verified through comparison with a structure file). ) Based on the positions of the targets 1201 to 1203. The distance traveled by the bot can be used to align the fingers 110F of the arm 110A in line with the slats to transport the container between the bot 110 and the storage shelf 600.

  Note, for example, that the positioning of the bot within the removal passage 130A may be separated from the structure of the storage shelf 600. For example, even if the slats 620L1 and 620L2 are deformed or bent, when the targets 1201 to 1203 detected by the proximity sensor 281101 are deployed on the rail 1300, this deformation is used to determine the position of the bot in the take-out passage. There will be virtually no effect. This allows for modification and / or replacement of the slats 620L1, 620L2 without substantially affecting the bot's ability to position the bot within the storage and retrieval system. As can be seen, in one aspect, there is some interrelationship between the targets 1201-1203 and the slats 620L1, 620L2 and the arm 110A between the slats for transporting containers between the bot 110 and the storage shelf 600. It is possible to insert a finger 110F. In other aspects, the bot 110 can include any suitable sensor as described above for sensing the position of the slats, and between the slats for transporting containers between the bot 110 and the storage shelf 600. Allows insertion of fingers 110F of arm 110A

  Referring now to FIG. 33, in one aspect of the disclosed embodiment, the beam sensors 700, 701 described above with respect to FIGS. 7A-13 can be used in a load transport area in a manner substantially similar to the proximity sensor 281101. It can be positioned on the frame of the lower bot. Sensors 700, 701 are positioned to sense targets 1201-1203 on rail 1300, and each target 1201-1203 is sensed by a respective sensor 700, 701, substantially as described above in connection with slat detection. In a similar manner, an on / off signal is generated to determine the position of the bot in the same manner as described above. As can be seen, the bot has sensors 700, 701 on both sides 110S1, 110S2 of the bot, regardless of the direction of movement of the bot, the sensors 700, 701 sense the targets 1201-1203, Targets 1201 to 1203 are arranged on one rail 1300 in the take-out passage 130A.

  In other aspects, the bot 110 can include both beam sensors 700, 701 and one or more proximity sensors 281101, which are aligned with each other to determine the position of the bot within the storage structure. used. In one aspect, the proximity sensor 281101 can be used to position the bot in the retrieval path 130A, while the beam sensors 700, 701 transport containers between the bot 110 and the storage shelf 600, It can be used to position the bot within the area between the targets 1201-1203 for aligning the bot arm 110A with the slats of the storage shelf 600. In other aspects, beam sensors 700, 701 and proximity sensor 281101 are optional for positioning the bot within the storage structure and for transporting containers between bot 110 and storage shelf 600. It may be used in an appropriate way.

  Next, referring to FIG. 34, the storage and retrieval system also locates the bot, for example during bot initialization, and during movement of the bot along the transport deck 130B, for example. To do so, a bot position system may be included. In one aspect, the bot location system may use radio waves to locate the bot and may include any suitable number of transmitters and receivers. In other aspects, the bot position system may use any suitable device that allows the positioning of the bot, such as, for example, optical transmitters and receivers, sonic transmitters and receivers. In one aspect, the wireless device 2600, such as a transponder, transceiver, transmitter, etc. can be placed in any suitable location within the storage structure, eg, on the vertical support 612 or horizontal support 610, 611 (FIG. 5) of the storage structure. May be put on. For exemplary purposes, the wireless device 2600 may be located at the intersection of the extraction passage 130A and the transport deck 130B and in each storage bay 510, 511 of the extraction passage 130A. In one aspect, the wireless device 2600 may be a passive wireless device, such as a radio frequency identification (RFID) tag, while in another aspect, the wireless device may be an active device. If the wireless device 2600 is passive, the bot 110 may include a transceiver and antenna 110AN configured to activate and communicate with the transponder to receive information stored in the transponder 2600. . The information stored in the transponder includes storage path identification, storage bay identification, multi-level vertical conveyor position, transport deck position and / or any other positional information related to the position in the storage structure. Can be included. The bot 110 may be configured to query the wireless device 2600 during operation of the bot, such as when moving through a storage structure, or at any suitable time, such as during initialization of the bot 110. In one aspect, when the bot 110 is initialized in the storage structure, the bot 110 queries one or more of the nearby wireless devices 2600 and the device where the bot is located. Location information can be received from 2600. In the example shown in FIG. 34, bot 110 receives information from wireless devices 2600A, 2600B and is processed by controller 1220 to indicate, for example, that the bot is located in passage 130A between bays 510, 511. The This position information is supplemented and adjusted with position information received from one or more of the sensors 701, 700, 281101 to provide the initial position of the bot 110. In another aspect, the wireless device 2600 can be interrogated by the bot 110 while the bot 110 is moving at a substantially high speed along the transport deck and take-out path, and the bot 110 can be placed in a predetermined position. When receiving position information from the wireless device 2600, the bot can slow down and receive position information from one or more of the sensors 700, 701, 281101. As can be seen, the wireless device 2600 and the transceiver and antenna 110AN can also be positioned with respect to the position of the bot 110 with the desired accuracy, such as via any suitable analysis of the signal received from the wireless device 2600, which is from the sensors 700,701,281101. It can be used to acquire whether the position information obtained may or may not be supplemented.

  According to a first aspect of the disclosed embodiment, a storage and retrieval system is provided. The storage and retrieval system includes storage structures having storage shelves, each storage shelf having slats for supporting the items being stored, the slats being spaced from each other at a predetermined distance. It has been. An autonomous transport vehicle is also provided, the autonomous transport vehicle including at least one sensor configured to sense each slat and to output a signal informing the slat when it is sensed. . A controller is provided for verifying the position of the autonomous transport vehicle within the storage structure based at least on the output signal.

  According to a first sub-aspect of the first aspect of the disclosed embodiment, the controller is configured to compare the position of the autonomous transport vehicle at the time the slat is sensed with a predetermined position of the slat. And if the position substantially matches, the verified position of the autonomous delivery vehicle is updated.

  According to a first sub-aspect of the first aspect of the disclosed embodiment, the controller is configured to ignore the output signal of the at least one sensor if the positions do not substantially match. Yes.

  According to a second sub-aspect of the first aspect of the disclosed embodiment, the controller continues the estimated position of the autonomous delivery vehicle based on the latest verified position of the autonomous delivery vehicle. Configured to update.

  According to a second subordinate aspect of the first aspect of the disclosed embodiment, the autonomous transport vehicle includes at least one wheel encoder, and the controller updates the estimated position of the autonomous transport vehicle. The wheel encoder information is obtained.

  According to a third subordinate aspect of the first aspect of the disclosed embodiment, the autonomous transport vehicle is configured to line up the transport arm fingers of the autonomous transport vehicle in a row with an interval between them, In order to extend the transfer arm fingers into the spacing without contacting the slats, the fingers are placed between the associated storage shelf slats based on a predetermined position of the autonomous transfer vehicle.

  According to a first aspect of the disclosed embodiment, the autonomous transport vehicle includes a case unit detection sensor configured to detect a case unit disposed on a storage shelf, and The controller is configured to determine the position of the autonomous transport vehicle based on the sensed case unit.

  According to a second aspect of the disclosed embodiment, a storage and retrieval system is provided. The storage and retrieval system includes at least one multilevel vertical conveyor having at least one shelf with support fingers. It also includes at least one wall adjacent to the multi-level vertical conveyor, the wall including a protrusion that is substantially aligned with the support fingers. An autonomous transport vehicle is provided and includes at least one sensor configured to sense each of the protrusions and to output a signal informing the detection of the protrusion. A controller is provided that is configured to determine the position of the autonomous vehicle associated with the pointing finger based on an output signal from the at least one sensor.

  According to a second aspect of the disclosed embodiment, the autonomous transport vehicle includes a transport arm having transport arm fingers, and the autonomous transport vehicle does not substantially contact the support fingers. In order to extend the transfer arm fingers in the path, the transfer arm fingers are arranged in a line at intervals between the support fingers of at least one shelf based on a predetermined position of the autonomous transfer vehicle. The

  According to a second aspect of the disclosed embodiment, the at least one shelf includes at least two item holding arrangements, the autonomous transport vehicle includes a transport arm, and the autonomous transport vehicle includes at least Based on an output signal from one sensor, the transfer arm is arranged in line with one of the at least two item holding arrangements.

  According to a third aspect of the disclosed embodiment, an encoder for determining the position of an autonomous transport vehicle is provided. The encoder includes at least one slat attached adjacent to a transport lane of the autonomous transport vehicle, at least one sensor attached to the at least one autonomous transport vehicle, and the at least one sensor includes at least one slat. And a position of an autonomously transporting vehicle along the movement path based on the presence signal and receiving the presence signal when the at least one slat is sensed. Including a controller configured to determine.

  According to a third aspect of the disclosed embodiment, the at least one slat includes a storage shelf item support.

  According to a third aspect of the disclosed embodiment, the at least one slat includes a protrusion attached to a wall adjacent to the travel lane.

  According to a third aspect of the disclosed embodiment, the at least one sensor includes at least one beam sensor and a proximity sensor.

  According to a third aspect of the disclosed embodiment, each of the at least one slat is spaced apart from each other at a predetermined pitch, and the distance between each of the at least one sensor is They are spaced apart from each other by a fractional value of the pitch.

  According to a third aspect of the disclosed embodiment, the at least one sensor is angled with respect to the surface of the at least one slat.

  According to a third aspect of the disclosed embodiment, the distance between each of the at least one slat determines an incremental position of the autonomous vehicle.

  According to a third aspect of the disclosed embodiment, the absolute value of the position of the autonomous transport vehicle is determined by the spacing between each of the at least one slat.

  According to a first sub-aspect of the third aspect of the disclosed embodiment, the controller senses the position of the autonomous transport vehicle at the time the slat is sensed to verify the position of the autonomous transport vehicle. The slat is configured to be compared with a predetermined position of the slat.

  According to a first sub-aspect of the third aspect of the disclosed embodiment, the controller determines whether the position of the autonomous vehicle at the time the slat is sensed and the predetermined position of the sensed slat. When they match, it is configured to update the position of the autonomous transport vehicle.

  According to a first sub-aspect of the third aspect of the disclosed embodiment, the controller determines whether the position of the autonomous vehicle at the time the slat is sensed and the predetermined position of the sensed slat. It is configured to ignore the presence signal generated when they do not match.

  According to a third aspect of the disclosed embodiment, the autonomous transport vehicle includes at least one wheel encoder, and the controller obtains information from the wheel encoder and autonomously from the wheel encoder information. The estimated position of the autonomous transport vehicle is determined based on a predetermined position of the transport vehicle.

  According to a fourth aspect of the disclosed embodiment, the storage and retrieval system includes storage structures having storage shelves, each storage shelf having slats for supporting the items being stored; The slats are spaced apart from each other by a predetermined distance; includes at least one sensor configured to sense each slat and to output a signal indicating when the slat is sensed An autonomous transport vehicle; including a controller for verifying the position of the autonomous transport vehicle within the storage structure based at least on the output signal.

  According to a first sub-aspect of the fourth aspect of the disclosed embodiment, the controller compares the position of the autonomous vehicle at the time the slat is sensed with a predetermined position of the slat. And if the position substantially matches, the verified position of the autonomous delivery vehicle is updated.

  According to a first sub-aspect of the fourth aspect of the disclosed embodiment, the controller is further configured to ignore the output signal of the at least one sensor if the position does not substantially match. ing.

  According to a second subordinate aspect of the fourth aspect of the disclosed embodiment, the controller continuously updates the estimated position of the autonomous delivery vehicle based on the latest verified position of the autonomous delivery vehicle. Is configured to do.

  According to a second subordinate aspect of the fourth aspect of the disclosed embodiment, the autonomous transport vehicle includes at least one wheel encoder, and the controller further updates the estimated position of the autonomous transport vehicle. In order to obtain wheel encoder information.

  According to a fourth aspect of the disclosed embodiment, the autonomous transport vehicles are each based on a predetermined position of the autonomous transport vehicle to extend the transport arm fingers in the interval without contacting the slats, respectively. The transfer arm fingers of the autonomous transfer vehicle are arranged in a line at intervals between the slats of the storage shelves.

  According to a fourth aspect of the disclosed embodiment, the autonomous transport vehicle includes a case unit detection sensor configured to detect a case unit disposed on a storage shelf, and The controller is further configured to determine the position of the autonomous transport vehicle based on the sensed case unit.

  According to a fifth aspect of the disclosed embodiment, the storage and retrieval system comprises at least one multilevel vertical conveyor having at least one shelf having support fingers; adjacent to the multilevel vertical conveyor; At least one wall including substantially aligned projections; including at least one sensor configured to sense each of the projections and to output a signal when the projection is sensed An autonomous transport vehicle; and a controller configured to position the autonomous transport vehicle relative to the pointing finger based on an output signal from the at least one sensor.

  According to a fifth aspect of the disclosed embodiment, the autonomous transport vehicle includes a transport arm having transport arm fingers, and the autonomous transport vehicle does not substantially contact support fingers and In order to extend the transfer arm fingers in the path, the transfer arm fingers are arranged in a line at intervals between the support fingers of the at least one shelf based on a predetermined position of the autonomous transfer vehicle. The

  According to a fifth aspect of the disclosed embodiment, the at least one shelf includes at least two item holding arrangements, the autonomous transport vehicle includes a transport arm, and the autonomous transport vehicle includes: Based on an output signal from at least one sensor, the transfer arm is configured to be aligned with one of the at least two item holding arrangements.

  According to a sixth aspect of the disclosed embodiment, a storage and retrieval system is provided. The storage and retrieval system includes a transport deck having a longitudinal axis, a first storage section, and a second storage section. The first storage section and the second storage section are disposed on opposite sides of the transport deck and are opposed substantially symmetrically about the longitudinal axis. Here, each of the first and second storage sections includes a storage passage in communication with the transport deck.

  According to a first sub-aspect of the sixth aspect of the disclosed embodiment, the transport deck includes first and second ends, and the storage and retrieval system further includes first and second transport decks. It includes at least one multi-level vertical conveyor at one or more of the two ends.

  According to a first sub-aspect of the sixth aspect of the disclosed embodiment, the at least one multi-level vertical conveyor includes at least two multi-level vertical conveyors, the at least two multi-level vertical conveyors One of the at least two multilevel vertical conveyors and the other of the at least two multilevel vertical conveyors is disposed on the second side of the transfer deck, which is the at least two multilevel vertical conveyors. Are substantially symmetrically opposed to each other.

  According to a first sub-aspect of the sixth aspect of the disclosed embodiment, each of the at least one multi-level vertical conveyor does not substantially disrupt the flow of objects along the transfer deck. Coupled to the transfer deck through a vestibule configured to allow access to a corresponding multi-level vertical conveyor.

  According to a sixth aspect of the disclosed embodiment, the transport deck provides access to each of the storage passages.

  According to a sixth aspect of the disclosed embodiment, the storage and retrieval system is further coupled to a transport deck for transporting items between a storage section storage configuration and at least one multi-level vertical conveyor. And at least one multi-level vertical conveyor and at least one autonomous transport vehicle configured to traverse the transport deck and storage passage.

  According to a sixth aspect of the disclosed embodiment, each storage section includes multiple levels of storage arrangements, each level being vertically stacked one above the other. Also, the storage passage includes multiple vertically stacked levels, and at least one storage passage level is common to one or more of the storage arrangements. According to a further aspect, the storage and retrieval system further includes at least one autonomous transport vehicle configured to traverse the transport deck and the storage passage, the at least one autonomous transport vehicle being one of the storage arrangements. The storage path level common to the above levels is configured to access one or more levels of the storage arrangement.

  According to a sixth aspect of the disclosed embodiment, each storage section includes multiple levels of storage arrangements, each level being vertically stacked one above the other. The transport deck also includes multiple vertically stacked levels corresponding to each level of the storage section.

  According to a sixth aspect of the disclosed embodiment, each storage section includes multiple levels of storage arrangements, each level being vertically stacked one above the other. The transport deck also includes multiple vertically stacked levels, and each transport deck is configured to provide access to one or more levels of the storage arrangement.

  According to a seventh aspect of the disclosed embodiment, a warehouse storage structure is provided. The storage structure includes a transport deck having a longitudinal axis and at least a pair of storage sections, each of the at least a pair of storage sections including a first storage section and a second storage section. The first storage section and the second storage section of at least one pair of storage sections have a configuration that is generally symmetrically opposed to the longitudinal axis of the transport deck, and the first and second storage sections are It includes a storage passage that communicates with the transfer deck.

  According to a first sub-aspect of the seventh aspect of the disclosed embodiment, the warehouse-type storage structure further includes at least one multi-level vertical conveyor coupled to the transport deck.

  According to a first sub-aspect of the seventh aspect of the disclosed embodiment, each of the at least one multi-level vertical conveyor does not substantially disrupt the flow of objects along the transfer deck. Coupled to the transport deck through an access platform configured to allow access to a corresponding multi-level vertical conveyor.

  According to a first sub-aspect of the seventh aspect of the disclosed embodiment, the transport deck includes first and second ends, and the multi-level vertical conveyor includes first and second ends. One or more are coupled to the transport deck.

  According to a seventh aspect of the disclosed embodiment, the at least one pair of storage sections includes at least two pairs of storage sections, and the at least one multi-level vertical conveyor includes at least two pairs of storage sections. Is coupled to the transfer deck between.

  According to a seventh aspect of the disclosed embodiment, the transport deck includes a horizontal axis, and the at least one pair of storage sections is substantially symmetrical with respect to the horizontal axis along the storage deck. It includes at least two pairs of storage sections arranged in a configuration.

  According to a seventh aspect of the disclosed embodiment, each storage section in at least one pair of storage sections includes a storage passage coupled to the transfer deck, and the transfer deck includes a transfer path. The warehouse-type storage structure further includes shunts connecting the transport paths, each shunt being substantially along the line of the respective storage path.

  According to a seventh aspect of the disclosed embodiment, each storage section includes multiple levels of storage arrangements, each level being vertically stacked one above the other. The storage passage also includes multiple vertically stacked levels, and at least one storage passage level is common to one or more of the storage arrangements. According to a further aspect, the storage and retrieval system further includes at least one autonomous transport vehicle configured to traverse the transport deck and the storage passage, the at least one autonomous transport vehicle being one of the storage arrangements. The storage path level common to the above levels is configured to access one or more levels of the storage arrangement.

  According to an eighth aspect of the disclosed embodiment, the storage and removal system comprises a row of multi-level storage rack modules having storage areas separated by an extraction passage, wherein the storage area includes shelves; The shelf is configured to place an empty case unit virtually anywhere along the shelf; multiple levels of stacked tires including at least one transport deck and a take-off passage, wherein the shelf Each take-off path provides access to multiple levels of the multi-level storage rack module; and includes at least one autonomous carrier vehicle located on one of the multiple levels of the stacked tires. The at least one autonomous transport vehicle has at least one stacked multi-level transport deck and a case unit that does not contain content across the take-out path to the multi-level of the multi-level storage rack module in each take-out path, And at least one autonomous transport vehicle is configured to access each of the multiple levels of the multi-level storage rack module of the respective take-off path.

  According to a ninth aspect of the disclosed embodiment, there is provided a maintenance access system for storage and retrieval space having an autonomous transport vehicle arranged in the storage and retrieval space. The maintenance access system has at least one maintenance access control unit associated with a portion of the storage and retrieval space and a boundary of the portion of the storage and retrieval space that is disposed within the storage and retrieval space and has at least one At least one barrier configured to substantially prevent an autonomous transport vehicle from passing through the barrier and a controller coupled to the maintenance access control unit, the controller including at least one maintenance access control In response to the signal, the controller is configured to receive a signal from the at least one maintenance access control unit to isolate a portion of the storage and retrieval space associated with the unit. Separate the parts Close the at least one barrier are, to enable withdrawal or blocking of the autonomous transfer vehicle in portions of the storage and retrieval space.

  According to a ninth aspect of the disclosed embodiment, the portion of the storage and retrieval space forms a maintenance access zone that includes at least one retrieval passage of the storage and retrieval system, wherein the at least one retrieval The passages are arranged with a vertical overlap of the extraction passages.

  According to a ninth aspect of the disclosed embodiment, the portion of the storage and retrieval space forms a maintenance access zone that includes a transport deck of the storage and retrieval system, wherein the transport deck is one or Provide access to the autonomous transport vehicle to two or more pick-up paths and / or one or more multi-level vertical conveyor transport areas.

  According to a ninth aspect of the disclosed embodiment, the portion of the storage and retrieval space forms a maintenance access zone that includes a multi-level conveyor transport area, wherein the multi-level conveyor transport area is an autonomous transport Allows the vehicle to transport the case between the multi-level vertical conveyor and the take-out passage.

  According to a first sub-aspect of the ninth aspect of the disclosed embodiment, the storage and retrieval space is coupled to multiple storage levels each including a retrieval path, a transport deck common to each retrieval path, and a transport deck Multi-level vertical conveyor transport area. The maintenance access system further includes at least one barrier at one or more of at least one end of the extraction passageway, at the entrance / exit of the multilevel vertical conveyor transfer area, and within the transfer deck.

  According to a first sub aspect of the ninth aspect of the disclosed embodiment, the barrier includes one or more nets, fences and screens.

  According to a first sub-aspect of the ninth aspect of the disclosed embodiment, the barrier is a powered barrier, wherein one or more ends of at least one take-out passage, a multi-level vertical conveyor It is moved to substantially block the entrance / exit of the transfer area and at least a portion of the transfer deck.

  According to a ninth aspect of the disclosed embodiment, the portion of the storage and retrieval space forms a maintenance access zone that includes multiple retrieval passages arranged to vertically overlap, wherein the bottom of the overlap The removal passage includes a floor, and the removal passage above the overlapping bottom removal passage in the service access zone is substantially free of floor.

  According to a tenth aspect of the disclosed embodiment, a storage and removal system includes a multi-level storage structure including a plurality of storage arrangements arranged on a side of the extraction passage; the storage arrangement and at least one conveyor At least one autonomous transport vehicle configured to move along a pick-up path and a transport deck to transport the case unit therebetween; and vertically stacked maintenance arranged to coincide with the pick-up path A maintenance access system including an access zone, wherein the removal passages are coupled to each other and to a multi-level vertical conveyor by a transfer deck, wherein each maintenance access zone has access to at least multiple levels of the removal passages; And a storage arrangement corresponding to multiple levels of take-out passages.

  According to a tenth aspect of the disclosed embodiment, the multiple levels of take-out passages are arranged to overlap vertically, the take-off passage at the bottom of the overlap includes a floor, and the overlap for each maintenance access zone The extraction passage above the bottom extraction passage is substantially free of floor.

  According to a first sub-aspect of the tenth aspect of the disclosed embodiment, the storage and retrieval system further includes at least one maintenance access control unit; at least one barrier corresponding to each maintenance access zone; and A controller coupled to a maintenance access control unit, wherein the at least one barrier is configured to substantially prevent the autonomous vehicle from passing through the at least one barrier, and the controller Is configured to receive a signal from at least one maintenance access control unit to isolate a portion of the storage and retrieval system associated with the at least one maintenance access control unit, wherein the controller stores and Autonomous transport within the extraction system Enable withdrawal or blocking of both.

  According to a first sub-aspect of the tenth aspect of the disclosed embodiment, each of the multi-level vertical conveyors includes a transport area, and the at least one barrier is one or more of the at least one take-out passages or Included at two or more ends, at the entrance / exit of the multi-level vertical conveyor transport area, and within the transport deck.

  According to a first sub-aspect of the tenth aspect of the disclosed embodiment, the at least one barrier includes one or more nets, fences and screens.

  According to a first sub-aspect of the tenth aspect of the disclosed embodiment, the at least one barrier is at least one powered barrier and the one or more ends of the at least one extraction passage And / or moved to substantially block at least a portion of the section, the entrance / exit of the multi-level vertical conveyor transport area, and the transport deck.

  According to a tenth aspect of the disclosed embodiment, the storage and retrieval system further includes at least one maintenance personnel cart configured to allow maintenance personnel to cross the maintenance access zone.

  According to a tenth aspect of the disclosed embodiment, a transport deck can operate a portion of a transport deck associated with one maintenance access zone with a portion of the transport deck associated with another maintenance access zone It includes a multiple maintenance access zone configured so that it cannot be operated while in a state.

  According to an eleventh aspect of the disclosed embodiment, a storage and retrieval system is provided. A storage and retrieval system includes a storage shelf structure having a static positioning feature with respect to a reference feature of the storage shelf structure, an autonomous transport vehicle including at least one sensor, and a storage shelf based on at least an output signal A controller configured to verify the position of the autonomous transport vehicle with respect to the structure, wherein the positioning features are spaced apart from each other at a predetermined distance, the at least one sensor comprising: When the autonomous vehicle passes through the positioning feature and senses an object, it is configured to sense each positioning feature and output a signal, where the movement is mechanically constrained and unmechanically constrained The bot is configured so that either of them can be used.

  According to an eleventh aspect of the disclosed embodiment, the object includes a slat that forms part of the storage shelf structure and supports the stored items on the storage shelf structure.

  According to a first sub-aspect of the eleventh aspect of the disclosed embodiment, the storage and retrieval system is further disposed in the retrieval passage so that the autonomous transport vehicle moves in a mechanically constrained manner. And a rail configured to provide access to the storage shelf, wherein the positioning feature includes an opening formed in the rail.

  According to a first sub-aspect of the eleventh aspect of the disclosed embodiment, the positioning feature is a single configuration with a storage shelf structure that defines the positioning feature.

  According to an eleventh aspect of the disclosed embodiment, the at least one sensor includes an optical sensor.

  According to an eleventh aspect of the disclosed embodiment, the at least one sensor includes a proximity sensor.

  According to an eleventh aspect of the disclosed embodiment, the at least one sensor includes a Hall effect sensor.

  According to a second sub-aspect of the eleventh aspect of the disclosed embodiment, the positioning feature includes a radio pre-positioned on the support of the storage structure, and the at least one sensor is a wireless It includes at least an antenna for obtaining information regarding the pre-arrangement of radios that have been queried and queried.

  According to a second subordinate aspect of the eleventh aspect of the disclosed embodiment, the positioning feature and at least the antenna are configured to provide a position of the autonomous transport vehicle when the autonomous transport vehicle is initialized. ing.

  According to an eleventh aspect of the disclosed embodiment, the sensor is movably attached to the autonomous transport vehicle and faces toward the static positioning feature.

  It should be understood that the exemplary embodiments described herein may be used individually or in any combination. It should be understood that the above description is merely illustrative of the embodiments. Various alternatives and modifications can be devised by those skilled in the art without departing from the embodiments. Accordingly, this embodiment is intended to encompass all alternatives, modifications, and variations that fall within the scope of the appended claims.

Claims (27)

A storage structure having storage shelves, wherein each storage shelf includes slats for supporting stored items, the slats being spaced from each other at a predetermined distance. When,
An autonomous transport vehicle including at least one sensor configured to sense each slat and to output a signal indicating when the slat is sensed;
A storage and retrieval system including a controller for verifying the position of the autonomous transport vehicle within the storage structure based at least on the output signal. The controller is configured to compare the position of the autonomous transport vehicle at the time when the slat is sensed with a predetermined position of the slat, and if the position substantially matches, verifying the autonomous delivery vehicle The storage and retrieval system of claim 1, wherein the stored location is updated. The storage and retrieval system of claim 2, wherein the controller is further configured to ignore the output signal of the at least one sensor if the positions do not substantially match. The storage and retrieval system of claim 1, wherein the controller is configured to continuously update the estimated position of the autonomous delivery vehicle based on the latest verified position of the autonomous delivery vehicle. 5. Storage and retrieval according to claim 4, wherein the autonomous transport vehicle includes at least one wheel encoder, and the controller is configured to obtain wheel encoder information to update an estimated position of the autonomous transport vehicle. system. The autonomous transport vehicle is configured to arrange the transport arm fingers of the autonomous transport vehicle in a line at intervals, and in order to extend the transport arm fingers into the interval without contacting the slats, the fingers The storage and retrieval system according to claim 1, wherein the storage and retrieval system is disposed between the slats of each storage shelf based on a predetermined position of the autonomous transport vehicle. The autonomous transport vehicle includes a case unit detection sensor configured to detect a case unit disposed on a storage shelf, and the controller further detects the autonomous transport vehicle based on the sensed case unit. The storage and retrieval system of claim 1, wherein the storage and retrieval system is configured to determine a position. At least one multilevel vertical conveyor having at least one shelf with support fingers;
At least one wall adjacent to the multi-level vertical conveyor and including protrusions generally aligned with support fingers;
An autonomously conveying vehicle including at least one sensor configured to sense each of the protrusions and to output a signal indicating the protrusion when the protrusions are detected;
A storage and retrieval system including a controller configured to determine a position of the autonomous vehicle associated with the support finger based on an output signal from at least one sensor. The autonomous transport vehicle includes a transport arm having transport arm fingers, and the autonomous transport vehicle extends the transport arm fingers into a shelf path without substantially contacting the support fingers. 9. Storage and retrieval according to claim 8, wherein the transfer arm fingers are arranged in a row at intervals between the support fingers of the at least one shelf based on a predetermined position of the autonomous transfer vehicle. system. The at least one shelf includes at least two item holding places, the autonomous transport vehicle includes a transport arm, and the autonomous transport vehicle is configured to output the transport arm based on an output signal from the at least one sensor. 9. The storage and retrieval system of claim 8, wherein the storage and retrieval system is configured to align with one of the at least two item holding locations. At least one slat attached adjacent to the transport lane of the autonomous transport vehicle;
At least one sensor attached to at least one autonomous transport vehicle and configured to sense the at least one slat and output a presence signal when sensed;
An encoder for determining the position of the autonomous transport vehicle, comprising: a controller configured to receive the presence signal and to determine a position of the autonomous transport vehicle along a movement path based on the presence signal. The encoder of claim 11, wherein the at least one slat comprises a storage shelf article support. The encoder of claim 11, wherein the at least one slat includes a protrusion attached to a wall adjacent to the transport lane. The encoder of claim 11, wherein the at least one sensor includes at least one beam sensor and a proximity sensor. Each of the at least one slat is spaced apart from each other at a predetermined pitch, and the distance between each of the at least one sensor is spaced apart from each other by a fractional value of the pitch. The encoder according to claim 11. The encoder of claim 11, wherein the at least one sensor is angled relative to a surface of the at least one slat. The encoder of claim 11, wherein an increment in position of the autonomous transport vehicle is determined by a spacing between each of the at least one slat. The encoder according to claim 11, wherein an absolute value of the position of the autonomous transport vehicle is determined by an interval between each of the at least one slat. The controller is configured to compare the position of the autonomous transport vehicle at the time when the slat is sensed with a predetermined position of the sensed slat in order to verify the position of the autonomous transport vehicle. Item 11. The encoder according to Item 11. The controller is configured to update the position of the autonomous transport vehicle when a position of the autonomous transport vehicle at the time when the slat is detected matches a predetermined position of the detected slat. Item 20. The encoder according to Item 19. The controller is configured to ignore the presence of a signal that is generated when a position of the autonomous transport vehicle at the time when a slat is sensed does not match a predetermined position of the sensed slat. Item 20. The encoder according to Item 19. The autonomous transport vehicle includes at least one wheel encoder, and the controller acquires information from the wheel encoder, and based on the wheel encoder information and a predetermined position of the autonomous transport vehicle, the autonomous transport vehicle The encoder of claim 11, wherein the encoder is configured to determine an estimated position of the vehicle. Storage shelves, each of the storage shelves having slats for supporting stored items, the slats being spaced apart from each other by a predetermined distance;
An autonomous transport vehicle including at least one sensor configured to sense each slat and to output a signal indicating when the slat is sensed;
A storage and retrieval system including a controller for verifying a position of the autonomous transport vehicle within the storage structure based on at least an output signal; A transport deck having a longitudinal axis;
A first storage section;
A storage and retrieval system including a second storage section, wherein the first storage section and the second storage section are disposed on opposite sides of the transport deck and the longitudinal axis And a storage and retrieval system wherein each of the first and second storage sections includes a storage passage in communication with the transport deck. A transport deck having a longitudinal axis;
At least a pair of storage sections, wherein each of the at least one pair of storage sections is a warehouse-type storage structure including a first storage section and at least a pair of storage sections including a second storage section, The first storage section and the second storage section of a pair of storage sections are configured to face each other substantially symmetrically with respect to the longitudinal axis of the transport deck, and the first and second storage sections A warehouse-type storage structure in which the section includes a storage passage communicating with the transfer deck. Multi-level storage rack module having storage areas separated by take-out passages, said storage areas including shelves, said shelves being configured to place empty case units virtually anywhere along the shelves And a column of
Including multiple levels of stacked tires that provide access to multiple levels of the multi-level storage rack module; and
Including at least one autonomous transport vehicle disposed on one of the multiple levels of the stacked tires;
The at least one autonomous transport vehicle has at least one stacked multi-level transport deck and a case unit that does not contain content across the take-out path to the multi-level of the multi-level storage rack module in each take-out path, And a storage and retrieval system configured to transport from and wherein the at least one autonomous transport vehicle is configured to access each of the multiple levels of the multilevel storage rack module of the respective retrieval path. A maintenance access system for storage and retrieval space having an autonomous transport vehicle arranged in the storage and retrieval space, the maintenance access system comprising:
At least one maintenance access control unit associated with a portion of the storage and retrieval space;
At least one disposed within the storage and retrieval space, demarcating a portion of the storage and retrieval space, and configured to substantially prevent the autonomous vehicle from passing through at least one barrier; With two barriers,
A controller coupled to the maintenance access control unit, the controller from the at least one maintenance access control unit to separate a portion of the storage and retrieval space associated with the at least one maintenance access control unit Configured to receive a signal, and in response to the signal, the controller closes the at least one barrier separating a portion of the storage and retrieval space and the autonomous transport within the portion of the storage and retrieval space Maintenance access system that enables the vehicle to be removed or blocked.

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